CN113093791A - Control method, controller, device and medium for unmanned identity authentication - Google Patents
Control method, controller, device and medium for unmanned identity authentication Download PDFInfo
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Abstract
The invention provides a control method, a controller, equipment and a medium for identity authentication of an unmanned aerial vehicle, wherein the method comprises the steps of obtaining actual measurement flight information of a target unmanned aerial vehicle, wherein the actual measurement flight information represents a flight state of the target unmanned aerial vehicle detected by detection equipment; acquiring reported flight information of the target unmanned aerial vehicle; the reported flight information represents the flight state actively reported by the target unmanned aerial vehicle; determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the actually measured flight information and the reported flight information; by matching the detected actual measurement flight information with the reported flight information actively reported by the target unmanned aerial vehicle, whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle which can modify the automatic broadcast information without permission can be identified.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a control method, a controller, equipment and a medium for identity authentication of an unmanned aerial vehicle.
Background
With the development of unmanned aerial vehicle technology, the problem of unmanned aerial vehicle management is increasingly remarkable, and the state accelerates the promotion of unmanned aerial vehicle management related laws and regulations, wherein the unmanned aerial vehicle identification technology is increasingly important. One of the related identification technologies is to enable an unmanned aerial vehicle to automatically broadcast its own related information, including longitude and latitude, speed, altitude and other information, by using an ADS-B technology similar to civil aviation.
However, the technology can cause broadcast information errors due to GPS jitter of the unmanned aerial vehicle and system errors caused by inaccurate positioning of the unmanned aerial vehicle detection positioning equipment, or non-system errors caused by modification of the broadcast information by an illegal person.
The black flying of an illegal unmanned aerial vehicle for which the broadcast information is modified by an illegal person is currently used for the problem to be solved.
Disclosure of Invention
The invention provides a control method, a controller, equipment and a medium for identity authentication of an unmanned aerial vehicle, and aims to solve the problem of black flight of an illegal unmanned aerial vehicle.
According to a first aspect of the invention, a control method for identity authentication of an unmanned aerial vehicle is provided, which includes:
acquiring actual measurement flight information of a target unmanned aerial vehicle, wherein the actual measurement flight information represents a flight state of the target unmanned aerial vehicle detected by a detection device;
acquiring reported flight information of the target unmanned aerial vehicle; the reported flight information represents the flight state actively reported by the target unmanned aerial vehicle;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the actually measured flight information and the reported flight information.
Optionally, the flight state represented by the actually measured flight information includes a detection position of the target unmanned aerial vehicle, and the flight state represented by the reported flight information includes a reported position of the target unmanned aerial vehicle;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information, specifically comprising:
calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the position gap information.
Optionally, the detection position includes a detection longitude and latitude position, and the reporting position includes a reporting longitude and latitude position; the position difference information comprises longitude and latitude difference information;
calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information, wherein the method comprises the following steps:
calculating longitude and latitude difference information of the detected longitude and latitude position and the reported longitude and latitude position of each of the continuous N moments to obtain N longitude and latitude difference information; wherein N is more than or equal to 1;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the plurality of position gap information, including:
and if the N pieces of longitude and latitude difference information are all larger than the longitude and latitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Optionally, the detection position includes a detection height position, and the reporting position includes a reporting height position; the location gap information comprises height gap information;
calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information, wherein the method comprises the following steps:
calculating height difference information of the detection height position and the reported height position at each moment in M continuous moments to obtain M height difference information; wherein M is more than or equal to 1;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the plurality of position gap information, including:
and if the M pieces of altitude difference information are all larger than the altitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Optionally, the flight state represented by the actually measured flight information includes a detection speed of the target unmanned aerial vehicle, and the flight state represented by the reported flight information includes a reported speed of the target unmanned aerial vehicle;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information, specifically comprising:
calculating the speed difference information of each detection speed and the reporting speed at each moment in a plurality of moments to obtain a plurality of speed difference information;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the plurality of speed gap information.
Optionally, calculating speed difference information for the detection speed and the reporting speed at each of the multiple times to obtain multiple speed difference information, including:
calculating the difference information of the speed of each of the P continuous moments according to the detection speed and the reporting speed of each of the P continuous moments to obtain P speed difference information; wherein P is more than or equal to 1;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the plurality of speed gap information, including:
and if the P pieces of speed difference information are all larger than the speed difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Optionally, the flight state represented by the actually measured flight information includes a detected longitude and latitude position of the target unmanned aerial vehicle, and the flight state represented by the reported flight information includes a reported longitude and latitude position of the target unmanned aerial vehicle;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information, specifically comprising:
generating a first flight track according to the detected longitude and latitude positions in the target time interval, wherein L is more than or equal to 1;
generating a second flight track according to the reported longitude and latitude position in the target time interval;
and matching the first flight track and the second flight track, and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Optionally, matching the first flight trajectory and the second flight trajectory to determine whether the target drone is an illegal drone includes:
selecting t first flight positions in the first flight trajectory and t second flight positions at corresponding moments in the second flight trajectory, wherein t is more than or equal to 1;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the flight position distance difference between the t first flight positions and the second flight position.
Optionally, determining whether the target drone is an illegal drone according to the difference between the flight position distances of the t first flight positions and the second flight position, includes:
if the difference between the flight positions of the first flight position and the second flight position at the ith moment is smaller than the flight position threshold, recording the difference between the flight positions at the corresponding moments to obtain s differences between the flight positions, wherein i is greater than or equal to 1 and less than or equal to t, and s is greater than or equal to 1 and less than or equal to t;
and if the statistical result of the distance difference of the s flying positions does not meet the Gaussian distribution, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Optionally, the actually measured flight information is obtained by the detection device identifying and positioning the target unmanned aerial vehicle.
According to a second aspect of the present invention, there is provided a controller for identity authentication of a drone, comprising:
the actual measurement information acquisition module is used for acquiring actual measurement flight information of the target unmanned aerial vehicle, and the actual measurement flight information represents a flight state of the target unmanned aerial vehicle detected by the detection equipment;
the reported information acquisition module is used for acquiring the reported flight information of the target unmanned aerial vehicle; the reported flight information represents the flight state actively reported by the target unmanned aerial vehicle;
and the unmanned aerial vehicle identification module is used for determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the actually-measured flight information and the reported flight information.
According to a third aspect of the invention, there is provided an electronic device comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor is configured to execute the codes in the memory to implement the control method for identity authentication of the drone according to the first aspect and the optional aspects of the present invention.
According to a fourth aspect of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the control method for identity authentication of a drone according to the first aspect of the present invention and its alternatives.
The control method, the controller, the equipment and the medium for identity authentication of the unmanned aerial vehicle can identify whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle which can modify the automatic broadcast information without permission or not by matching the detected actual measurement flight information with the reported flight information actively reported by the target unmanned aerial vehicle.
In the alternative scheme of the invention, the reported flight information is respectively matched with the longitude and latitude, the height, the speed, the flight track and the like in the actually measured flight information, so that a more accurate unmanned aerial vehicle identity identification result can be obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a control method for identity authentication of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a first flowchart illustrating step S103 according to an embodiment of the present invention;
FIG. 3 is a second flowchart illustrating the step S103 according to an embodiment of the present invention;
FIG. 4 is a third flowchart illustrating the step S103 according to an embodiment of the present invention;
FIG. 5 is a fourth flowchart illustrating the step S103 according to an embodiment of the present invention;
FIG. 6 is a fifth flowchart illustrating the step S103 according to an embodiment of the present invention;
FIG. 7 is a sixth flowchart illustrating step S103 according to an embodiment of the present invention;
FIG. 8 is a flowchart illustrating step S1037 according to an embodiment of the present invention;
FIG. 9 is a flowchart illustrating step S10372 according to an embodiment of the present invention;
fig. 10 is a schematic diagram of program modules of a controller for identity authentication of a drone according to an embodiment of the present invention;
fig. 11 is a schematic diagram of program modules of the drone authentication module 203 in an embodiment of the invention;
fig. 12 is a schematic structural diagram of an electronic device in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
The control method and the controller for identity authentication of the unmanned aerial vehicle provided by the embodiment of the invention can be applied to any terminal or server with data processing capacity, can be a part of unmanned aerial vehicle management and control equipment, and can also be a terminal or server of the unmanned aerial vehicle management and control equipment.
Referring to fig. 1, the method includes:
s101: acquiring actual measurement flight information of a target unmanned aerial vehicle;
the measured flight information represents the flight state of the target unmanned aerial vehicle detected by the detection equipment; the flight state comprises the position, the speed and the like of the target unmanned aerial vehicle, wherein the position can be a plane position comprising the longitude and latitude where the target unmanned aerial vehicle is located, and can also be a three-dimensional space position comprising the longitude and latitude where the target unmanned aerial vehicle is located and the height of the target unmanned aerial vehicle;
the detection device may be, for example, a TDOA (Time Difference of arrival) Positioning device, a GPS (Global Positioning System), an AOA (Angle of arrival) Positioning device, and any device or technology capable of actually measuring the flight state of the unmanned aerial vehicle is included in the scope of the present invention.
In one embodiment, the measured flight information is obtained by the detection device identifying and positioning the target drone.
S102: acquiring reported flight information of the target unmanned aerial vehicle;
the reported flight information represents the flight state actively reported by the target unmanned aerial vehicle; the flight state includes the position and the speed actively reported by the target unmanned aerial vehicle, and the position may be the plane position information including the longitude and latitude where the target unmanned aerial vehicle is located, or the spatial position information including the longitude and latitude where the target unmanned aerial vehicle is located and the height where the target unmanned aerial vehicle is located.
In one example, the target drone encodes information to be reported, broadcasts the encoded reported flight information, and after receiving the reported flight information, the corresponding drone management and control device or server performs signal processing such as decoding to obtain the flight state actively reported by the target drone.
In an example, the actually measured flight information and the reported flight information may respectively generate corresponding information tables according to time, and store the corresponding information tables, so as to facilitate matching of subsequent information.
S103: and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the actually measured flight information and the reported flight information.
The illegal unmanned aerial vehicle can be understood as an unmanned aerial vehicle which can modify the reported flight information by using modes of delayed release of position information, small-distance position offset, large-distance position offset, height error reporting, speed error reporting and the like, and further, the reported flight information broadcasted by the unmanned aerial vehicle can be obviously distinguished from the actually measured flight information, and is not usually caused by system error conditions such as reported flight information error, inaccurate positioning of detection equipment and the like due to GPS jitter of the unmanned aerial vehicle.
In the above embodiment, the actual measurement flight information detected by the detection device and the reported flight information actively reported by the target unmanned aerial vehicle are matched, so that whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle which is unauthorized to modify the automatic broadcast information can be identified.
Referring to fig. 2, in an embodiment, the flight status represented by the measured flight information includes a detection position of the target drone, and the flight status represented by the reported flight information includes a reported position of the target drone;
step S103, specifically including:
s1031: calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information;
s1032: and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the position gap information.
The plurality of moments may be a plurality of continuous moments or a plurality of incompletely continuous moments, and the position difference information may include position difference information representing a height difference and/or position difference information representing a longitude and latitude difference.
Referring to fig. 3, in an embodiment, the detection location includes a detection longitude and latitude location, and the reporting location includes a reporting longitude and latitude location; the position difference information comprises longitude and latitude difference information;
step S1031, including:
s10311: calculating longitude and latitude difference information of the detected longitude and latitude position and the reported longitude and latitude position of each of the continuous N moments to obtain N longitude and latitude difference information;
wherein N is more than or equal to 1;
step S1032, including:
s10321: and if the N pieces of longitude and latitude difference information are all larger than the longitude and latitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In the above embodiment, the longitude and latitude difference between the detected longitude and latitude position and the reported longitude and latitude position at each of the N times may be calculated respectively, to obtain N pieces of longitude and latitude difference information as Dis, and then the obtained N pieces of Dis are compared with the longitude and latitude difference threshold Dis _ th, and if the N pieces of Dis > Dis _ th, the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Referring to fig. 4, in one embodiment, the probing locations include probing height locations, and the reporting locations include reporting height locations; the location gap information comprises height gap information;
step S1031, including:
s10312: calculating height difference information of the detection height position and the reported height position at each moment in M continuous moments to obtain M height difference information; wherein M is more than or equal to 1, and M can be equal to or different from N in the above;
step S1032, including:
s10322: and if the M pieces of altitude difference information are all larger than the altitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In the above embodiment, the height difference between the detection height position and the reported height position at each of the M moments can be calculated respectively, and M pieces of height difference information are obtained as H, and then the obtained M pieces of H are compared with a height difference threshold H _ th, if M pieces of H are greater than H _ th, the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Referring to fig. 5, in an embodiment, the flight status represented by the measured flight information includes a detection speed of the target drone, and the flight status represented by the reported flight information includes a reporting speed of the target drone;
step S103, specifically including:
s1033: calculating the speed difference information of each detection speed and the reporting speed at each moment in a plurality of moments to obtain a plurality of speed difference information;
s1034: and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the plurality of speed gap information.
The plurality of times may be continuous times, may not be completely continuous times, and may be the same as or different from the plurality of times in step S1031.
Referring to fig. 6, in one embodiment, step S1033 includes:
s10331: calculating the difference information of the speed of each of the P continuous moments according to the detection speed and the reporting speed of each of the P continuous moments to obtain P speed difference information; wherein P is more than or equal to 1, and P can be equal to or different from M and/or N in the above;
step S1034, including:
s10341: and if the P pieces of speed difference information are all larger than the speed difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In the above embodiment, the speed difference between the detection speed and the reporting speed at each of P times may be calculated, respectively, to obtain P speed difference information as H, and then compare P obtained V with a speed difference threshold V _ th, where if P V > V _ th, the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Referring to fig. 7, in an embodiment, the flight state represented by the measured flight information includes a detected longitude and latitude position of the target drone, and the flight state represented by the reported flight information includes a reported longitude and latitude position of the target drone.
Step S103, specifically including:
s1035: generating a first flight track according to the detected longitude and latitude positions in the target time interval, wherein L is more than or equal to 1;
s1036: generating a second flight track according to the reported longitude and latitude position in the target time interval;
s1037: and matching the first flight track and the second flight track, and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In the above embodiment, the corresponding longitude and latitude are generated according to the longitude and latitude position within the target time interval, specifically, multiple times may be selected within the target time interval, and the flight trajectory corresponding to the target time interval is generated according to the longitude and latitude position corresponding to the multiple times, further, the times selected in step S1035 and step S1036 may be the same or different, and the number of the selected times may be the same or different, so long as the corresponding flight trajectory is generated according to the longitude and latitude position corresponding to the selected multiple times, without departing from the protection scope of the present invention.
In one example, the abnormal longitude and latitude positions can be removed from the selected longitude and latitude positions at multiple moments, so that a first flight trajectory and a second flight trajectory are generated, and a more accurate flight trajectory is obtained; in another example, the generated first flight trajectory and the second flight trajectory may be filtered to obtain a more accurate flight trajectory, such as kalman filtering.
Referring to fig. 8, in one embodiment, step S1037 includes:
s10371: selecting t first flight positions in the first flight trajectory and t second flight positions at corresponding moments in the second flight trajectory, wherein t is more than or equal to 1;
s10372: determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the flight position distance difference between the t first flight positions and the second flight position;
the flight position in step S10371 may be understood as a corresponding point trajectory tid (t) selected from the first flight trajectory and the second flight trajectory, and further, a distance difference between the two point trajectories at the corresponding time is calculated as a flight position distance difference dis (t).
Referring to fig. 9, in one embodiment, step S10372 includes:
s103721: if the difference between the flight positions of the first flight position and the second flight position at the ith moment is smaller than the flight position threshold, recording the difference between the flight positions at the corresponding moments to obtain s differences between the flight positions, wherein i is greater than or equal to 1 and less than or equal to t, and s is greater than or equal to 1 and less than or equal to t;
s103722: and if the statistical result of the distance difference of the s flying positions does not meet the Gaussian distribution, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In the above embodiment, the calculated difference dis (t) between the first flight position and the second flight position at each time in t times may be compared with a flight position threshold dis _ th, if dis (t) is smaller than dis _ th, the difference dis (t) is counted, and if the obtained statistical result of s differences dis (t) is gaussian distributed, the unmanned aerial vehicle is a legal unmanned aerial vehicle, otherwise, the unmanned aerial vehicle is an illegal unmanned aerial vehicle.
The flight position threshold value Dis _ th may be equal to or different from the longitude and latitude threshold value Dis _ th in step S10321.
In a specific embodiment of the present invention, after the steps S101 and S102 are executed to obtain the measured flight information and the reported flight information of the target unmanned aerial vehicle, the steps S10311 and S10321 may be executed to perform longitude and latitude position matching, if the matching is unsuccessful, the target unmanned aerial vehicle is an illegal unmanned aerial vehicle, if the matching is successful, the steps S10312 and S10322 are executed to perform height position matching, if the matching is unsuccessful, the target unmanned aerial vehicle is an illegal unmanned aerial vehicle, if the matching is successful, the steps S1033 and S1034 are executed to perform speed matching, if the matching is unsuccessful, the target unmanned aerial vehicle is an illegal unmanned aerial vehicle, if the matching is successful, the steps S1035, S1036 and S1037 are executed to perform flight trajectory matching, if the matching is unsuccessful, the target unmanned aerial vehicle is an illegal unmanned aerial vehicle, and if the matching is successful, the target unmanned aerial vehicle is;
in the above embodiments, the execution orders of steps S10311 and S10321, S10312 and S10322, S1033 and S1034, and S1035, S1036 and S1037 may be interchanged, and the above description is intended to indicate that several matching manners in step S103 may be comprehensively used for identity authentication of the same target drone, rather than the execution order of the steps.
In one embodiment of the invention, the detection positioning equipment is used for acquiring the actual measurement flight information and the reported flight information of the target unmanned aerial vehicle, matching is carried out, and the influence of system errors on identification is reduced, so that whether the unmanned aerial vehicle is an illegal unmanned aerial vehicle or not is judged, and an unmanned aerial vehicle management department can master the real identity condition of the unmanned aerial vehicle in the air to maintain the low-altitude flight order.
Referring to fig. 10, in an embodiment of the present invention, a controller 2 for identity authentication of an unmanned aerial vehicle includes:
the actual measurement information acquisition module 201 is configured to acquire actual measurement flight information of a target unmanned aerial vehicle, where the actual measurement flight information represents a flight state of the target unmanned aerial vehicle detected by a detection device;
a reported information obtaining module 202, configured to obtain reported flight information of the target unmanned aerial vehicle; the reported flight information represents the flight state actively reported by the target unmanned aerial vehicle;
and the unmanned aerial vehicle identification module 203 is configured to determine whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information.
Referring to fig. 11, in an embodiment, the flight status represented by the measured flight information includes a detection position of the target drone, and the flight status represented by the reported flight information includes a reported position of the target drone;
the drone authentication module 203 includes:
a position matching unit 2031 for:
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information, specifically comprising:
calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the position gap information.
In one embodiment, the detection location comprises a detection longitude and latitude location, and the reporting location comprises a reporting longitude and latitude location; the position difference information comprises longitude and latitude difference information;
a position matching unit 2031 for:
calculating longitude and latitude difference information of the detected longitude and latitude position and the reported longitude and latitude position of each of the continuous N moments to obtain N longitude and latitude difference information; wherein N is more than or equal to 1;
and if the N pieces of longitude and latitude difference information are all larger than the longitude and latitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In one embodiment, the probing locations comprise probing height locations, and the reporting locations comprise reporting height locations; the location gap information comprises height gap information;
a position matching unit 2031 for:
calculating height difference information of the detection height position and the reported height position at each moment in M continuous moments to obtain M height difference information; wherein M is more than or equal to 1;
and if the M pieces of altitude difference information are all larger than the altitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In one embodiment, the flight state represented by the measured flight information includes a detection speed of the target drone, and the flight state represented by the reported flight information includes a reported speed of the target drone;
the unmanned aerial vehicle authentication module 203 specifically comprises:
a speed matching unit 2032 for:
calculating the speed difference information of each detection speed and the reporting speed at each moment in a plurality of moments to obtain a plurality of speed difference information;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the plurality of speed gap information.
In one embodiment, the speed matching unit 2032 is configured to:
calculating the difference information of the speed of each of the P continuous moments according to the detection speed and the reporting speed of each of the P continuous moments to obtain P speed difference information; wherein P is more than or equal to 1;
and if the P pieces of speed difference information are all larger than the speed difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In one embodiment, the flight state represented by the measured flight information includes a detected longitude and latitude position of the target unmanned aerial vehicle, and the flight state represented by the reported flight information includes a reported longitude and latitude position of the target unmanned aerial vehicle;
the unmanned aerial vehicle authentication module 203 specifically comprises:
a trajectory generation unit 2033 configured to:
generating a first flight track according to the detected longitude and latitude positions in the target time interval, wherein L is more than or equal to 1;
generating a second flight track according to the reported longitude and latitude position in the target time interval;
a trajectory matching unit 2034 configured to:
and matching the first flight track and the second flight track, and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In one embodiment, the track matching unit 2034 is configured to:
selecting t first flight positions in the first flight trajectory and t second flight positions at corresponding moments in the second flight trajectory, wherein t is more than or equal to 1;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the flight position distance difference between the t first flight positions and the second flight position.
In one embodiment, determining whether the target drone is an illegal drone according to the flight position distance difference between the t first flight positions and the second flight position includes:
if the difference between the flight positions of the first flight position and the second flight position at the ith moment is smaller than the flight position threshold, recording the difference between the flight positions at the corresponding moments to obtain s differences between the flight positions, wherein i is greater than or equal to 1 and less than or equal to t, and s is greater than or equal to 1 and less than or equal to t;
and if the statistical result of the distance difference of the s flying positions does not meet the Gaussian distribution, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
In one embodiment, the measured flight information is obtained by the detection device identifying and positioning the target drone.
Referring to fig. 12, the present invention further provides an electronic device 30, which includes
A processor 31; and the number of the first and second groups,
a memory 32 for storing executable instructions for the processor;
wherein the processor 31 is configured to perform the above-mentioned method via execution of executable instructions.
The processor 31 is capable of communicating with the memory 32 via a bus 33.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (13)
1. A control method for identity authentication of an unmanned aerial vehicle is characterized by comprising the following steps:
acquiring actual measurement flight information of a target unmanned aerial vehicle, wherein the actual measurement flight information represents a flight state of the target unmanned aerial vehicle detected by a detection device;
acquiring reported flight information of the target unmanned aerial vehicle; the reported flight information represents the flight state actively reported by the target unmanned aerial vehicle;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the actually measured flight information and the reported flight information.
2. The method for controlling identity authentication of an unmanned aerial vehicle according to claim 1, wherein the flight status represented by the measured flight information includes a detection position of the target unmanned aerial vehicle, and the flight status represented by the reported flight information includes a reported position of the target unmanned aerial vehicle;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information, specifically comprising:
calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the position gap information.
3. The method of claim 2, wherein the detected location comprises a detected latitude and longitude location, and the reported location comprises a reported latitude and longitude location; the position difference information comprises longitude and latitude difference information;
calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information, wherein the method comprises the following steps:
calculating longitude and latitude difference information of the detected longitude and latitude position and the reported longitude and latitude position of each of the continuous N moments to obtain N longitude and latitude difference information; wherein N is more than or equal to 1;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the plurality of position gap information, including:
and if the N pieces of longitude and latitude difference information are all larger than the longitude and latitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
4. The method of claim 2, wherein the probe location comprises a probe altitude location, and the report location comprises a report altitude location; the location gap information comprises height gap information;
calculating the difference information of the positions of the detection position and the reporting position at each moment in a plurality of moments to obtain a plurality of position difference information, wherein the method comprises the following steps:
calculating height difference information of the detection height position and the reported height position at each moment in M continuous moments to obtain M height difference information; wherein M is more than or equal to 1;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the plurality of position gap information, including:
and if the M pieces of altitude difference information are all larger than the altitude difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
5. The method for controlling identity authentication of an unmanned aerial vehicle according to claim 1, wherein the flight status represented by the measured flight information includes a detection speed of the target unmanned aerial vehicle, and the flight status represented by the reported flight information includes a reported speed of the target unmanned aerial vehicle;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information, specifically comprising:
calculating the speed difference information of each detection speed and the reporting speed at each moment in a plurality of moments to obtain a plurality of speed difference information;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the plurality of speed gap information.
6. The method of claim 5, wherein the step of calculating a speed difference between the detection speed and the reporting speed at each of the plurality of times to obtain a plurality of speed difference information includes:
calculating the difference information of the speed of each of the P continuous moments according to the detection speed and the reporting speed of each of the P continuous moments to obtain P speed difference information; wherein P is more than or equal to 1;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the plurality of speed gap information, including:
and if the P pieces of speed difference information are all larger than the speed difference threshold value, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
7. The method for controlling identity authentication of an unmanned aerial vehicle according to claim 1, wherein the flight status represented by the measured flight information includes a detected longitude and latitude position of the target unmanned aerial vehicle, and the flight status represented by the reported flight information includes a reported longitude and latitude position of the target unmanned aerial vehicle;
determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the measured flight information and the reported flight information, specifically comprising:
generating a first flight track according to the detected longitude and latitude positions in the target time interval, wherein L is more than or equal to 1;
generating a second flight track according to the reported longitude and latitude position in the target time interval;
and matching the first flight track and the second flight track, and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
8. The method for controlling identity authentication of a drone of claim 7, wherein matching the first flight trajectory and the second flight trajectory to determine whether the target drone is an illegal drone comprises:
selecting t first flight positions in the first flight trajectory and t second flight positions at corresponding moments in the second flight trajectory, wherein t is more than or equal to 1;
and determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle or not according to the flight position distance difference between the t first flight positions and the second flight position.
9. The method for controlling identity authentication of a drone of claim 8, wherein determining whether the target drone is an illegal drone according to the flight position distance difference between the t first flight positions and the second flight position includes:
if the difference between the flight positions of the first flight position and the second flight position at the ith moment is smaller than the flight position threshold, recording the difference between the flight positions at the corresponding moments to obtain s differences between the flight positions, wherein i is greater than or equal to 1 and less than or equal to t, and s is greater than or equal to 1 and less than or equal to t;
and if the statistical result of the distance difference of the s flying positions does not meet the Gaussian distribution, determining that the target unmanned aerial vehicle is an illegal unmanned aerial vehicle.
10. The method as claimed in any one of claims 1 to 9, wherein the measured flight information is obtained by the detection device identifying and locating the target drone.
11. A controller for identity authentication of unmanned aerial vehicles, comprising:
the actual measurement information acquisition module is used for acquiring actual measurement flight information of the target unmanned aerial vehicle, and the actual measurement flight information represents a flight state of the target unmanned aerial vehicle detected by the detection equipment;
the reported information acquisition module is used for acquiring the reported flight information of the target unmanned aerial vehicle; the reported flight information represents the flight state actively reported by the target unmanned aerial vehicle;
and the unmanned aerial vehicle identification module is used for determining whether the target unmanned aerial vehicle is an illegal unmanned aerial vehicle according to the actually-measured flight information and the reported flight information.
12. An electronic device, comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor is configured to execute the codes in the memory to implement the control method for identity authentication of the drone according to any one of claims 1 to 10.
13. A storage medium having stored thereon a computer program which, when executed by a processor, implements the method of controlling authentication of a drone of any one of claims 1 to 10.
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