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CN118212811A - UAV control method, terminal and system - Google Patents

UAV control method, terminal and system Download PDF

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Publication number
CN118212811A
CN118212811A CN202211618656.0A CN202211618656A CN118212811A CN 118212811 A CN118212811 A CN 118212811A CN 202211618656 A CN202211618656 A CN 202211618656A CN 118212811 A CN118212811 A CN 118212811A
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CN
China
Prior art keywords
unmanned aerial
drone
aerial vehicle
authentication
control device
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211618656.0A
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Chinese (zh)
Inventor
郑国斌
王卫斌
陆光辉
朱堃
沈健
张强
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ZTE Corp
Original Assignee
ZTE Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ZTE Corp filed Critical ZTE Corp
Priority to CN202211618656.0A priority Critical patent/CN118212811A/en
Priority to PCT/CN2023/134775 priority patent/WO2024125293A1/en
Publication of CN118212811A publication Critical patent/CN118212811A/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/55—Navigation or guidance aids for a single aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/20—Arrangements for acquiring, generating, sharing or displaying traffic information
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/52—Navigation or guidance aids for take-off
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/70—Arrangements for monitoring traffic-related situations or conditions
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/14—Relay systems
    • H04B7/15—Active relay systems
    • H04B7/185—Space-based or airborne stations; Stations for satellite systems
    • H04B7/18502—Airborne stations
    • H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/009—Security arrangements; Authentication; Protecting privacy or anonymity specially adapted for networks, e.g. wireless sensor networks, ad-hoc networks, RFID networks or cloud networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/06—Authentication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/60—Context-dependent security
    • H04W12/69—Identity-dependent
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft
    • G08G5/50—Navigation or guidance aids
    • G08G5/57—Navigation or guidance aids for unmanned aircraft

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the application discloses a control method, a terminal and a system of an unmanned aerial vehicle, wherein the method comprises the following steps: receiving a registration request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle management and control equipment, wherein the unmanned aerial vehicle management and control equipment is used for performing qualification authentication and authentication on unmanned aerial vehicles of different types, calling a first authentication system by the unmanned aerial vehicle management and control equipment to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request in response to the registration request, and distributing a unique identification code to the unmanned aerial vehicle by the unmanned aerial vehicle management and control equipment and accessing the unmanned aerial vehicle management and control equipment under the condition that the qualification authentication passes; under the condition of accessing unmanned aerial vehicle control equipment, receiving an authentication request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle control equipment; responding to the authentication request, calling a second authentication system through the unmanned aerial vehicle management and control equipment, and authenticating the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system; and under the condition that authentication passes, controlling the unmanned aerial vehicle to take off through unmanned aerial vehicle control equipment.

Description

Unmanned aerial vehicle control method, terminal and system
Technical Field
The embodiment of the invention relates to the technical field of unmanned aerial vehicles, in particular to a control method, a terminal and a system of an unmanned aerial vehicle.
Background
The unmanned aerial vehicle is an aircraft which does not carry an operator, is driven by power, can be reused, and can complete specified tasks under the condition of remote control or autonomous planning by utilizing aerodynamic bearing flight. In recent years, the civil unmanned aerial vehicle industry has rapidly developed, and the requirements for controlling and controlling various unmanned aerial vehicles are continuously developed.
Under some scenes, the unmanned aerial vehicle is coordinated and controlled by various manufacturers and regulatory departments for different types, for example, the unmanned aerial vehicle, the networked unmanned aerial vehicle and the networked unmanned aerial vehicle are respectively coordinated and controlled by corresponding manufacturers, so that the control efficiency of various types of unmanned aerial vehicles is low, the control of various types of unmanned aerial vehicles does not have a unified control scheme, and the control reliability of the unmanned aerial vehicle is low.
Disclosure of Invention
The embodiment of the application provides a control method, a terminal and a system of an unmanned aerial vehicle, which are used for solving the problem of low control reliability of the unmanned aerial vehicle.
In a first aspect, a control method of an unmanned aerial vehicle is provided, including: receiving a registration request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle management and control equipment, wherein the unmanned aerial vehicle management and control equipment is used for performing qualification authentication and authentication on unmanned aerial vehicles of different types, calling a first authentication system by the unmanned aerial vehicle management and control equipment to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request in response to the registration request, and distributing a unique identification code to the unmanned aerial vehicle by the unmanned aerial vehicle management and control equipment and accessing the unmanned aerial vehicle management and control equipment under the condition that the qualification authentication passes; under the condition of accessing unmanned aerial vehicle control equipment, receiving an authentication request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle control equipment; responding to the authentication request, calling a second authentication system through the unmanned aerial vehicle management and control equipment, and authenticating the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system; and under the condition that authentication passes, controlling the unmanned aerial vehicle to take off through unmanned aerial vehicle control equipment.
In a second aspect, there is provided a control device for an unmanned aerial vehicle, including: the receiving module is used for receiving a registration request initiated by the unmanned aerial vehicle through unmanned aerial vehicle management and control equipment, and the unmanned aerial vehicle management and control equipment is used for performing qualification authentication and authentication on unmanned aerial vehicles of different types; the authentication module is used for responding to the registration request, calling the first authentication system through the unmanned aerial vehicle management and control equipment to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request, and distributing a unique identification code to the unmanned aerial vehicle through the unmanned aerial vehicle management and control equipment and accessing the unmanned aerial vehicle management and control equipment under the condition that the qualification authentication is passed; the receiving module is also used for receiving an authentication request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle control equipment under the condition of accessing the unmanned aerial vehicle control equipment; the authentication module is also used for responding to the authentication request, calling a second authentication system through the unmanned aerial vehicle management and control equipment and authenticating the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system; and the control module is used for controlling the unmanned aerial vehicle to take off through unmanned aerial vehicle management and control equipment under the condition that authentication passes.
In a third aspect, there is provided a terminal comprising a processor and a memory storing a program or instructions executable on the processor, which when executed by the processor, implement the steps of the method as described in the first aspect.
In a fourth aspect, there is provided a readable storage medium having stored thereon a program or instructions which when executed by a processor perform the steps of the method according to the first aspect.
In a fifth aspect, a chip is provided, the chip comprising a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to execute programs or instructions for implementing the method according to the first aspect.
In a sixth aspect, a computer program/program product is provided, stored in a storage medium, which is executed by at least one processor to implement the steps of the control method of a drone according to the first aspect.
In a seventh aspect, a control system of an unmanned aerial vehicle is provided, including: the unmanned aerial vehicle management and control device, the first authentication system and the second authentication system; the unmanned aerial vehicle management and control equipment is used for executing the following steps: receiving a registration request initiated by an unmanned aerial vehicle, and performing qualification authentication, authentication and flight state monitoring on unmanned aerial vehicles of different types; invoking a first authentication system in response to the registration request; the first authentication system is used for performing qualification authentication on the unmanned aerial vehicle corresponding to the registration request, and the unmanned aerial vehicle management and control equipment is used for distributing a unique identification code to the unmanned aerial vehicle and accessing the unmanned aerial vehicle management and control equipment under the condition that the qualification authentication passes; receiving an authentication request initiated by the unmanned aerial vehicle under the condition of accessing the unmanned aerial vehicle management and control equipment; invoking the second authentication system in response to the authentication request; the second authentication system is used for authenticating the unmanned aerial vehicle corresponding to the unique identification code; and the unmanned aerial vehicle is used for controlling the unmanned aerial vehicle to take off under the condition that authentication passes.
In the embodiment of the application, a registration request initiated by an unmanned aerial vehicle is received through unmanned aerial vehicle management and control equipment, the unmanned aerial vehicle management and control equipment is used for performing qualification authentication and authentication on unmanned aerial vehicles of different types, a first authentication system is called by the unmanned aerial vehicle management and control equipment to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request in response to the registration request, and under the condition that the qualification authentication passes, a unique identification code is distributed to the unmanned aerial vehicle through the unmanned aerial vehicle management and control equipment and the unmanned aerial vehicle management and control equipment is accessed; receiving an authentication request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle control equipment under the condition of accessing the unmanned aerial vehicle control equipment; responding to the authentication request, calling the second authentication system through the unmanned aerial vehicle management and control equipment, and authenticating the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system; under the condition that authentication and authentication pass, the unmanned aerial vehicle is controlled to take off through the unmanned aerial vehicle control equipment, so that the unmanned aerial vehicle control equipment can call an external authentication system to uniformly control various unmanned aerial vehicles, namely, after the unmanned aerial vehicle control equipment calls the external authentication system to perform qualification authentication and authentication on various unmanned aerial vehicles, the unmanned aerial vehicle is controlled to take off, and the control efficiency and the control reliability of various unmanned aerial vehicles are improved.
Drawings
Fig. 1 shows a schematic structural diagram of a control system of a unmanned aerial vehicle to which the embodiment of the present application is applicable;
FIG. 2 illustrates an architecture diagram of a drone management and control device to which embodiments of the present application may be applied;
fig. 3 shows a schematic flow chart of a control method of the unmanned aerial vehicle provided by the embodiment of the application;
fig. 4 shows a schematic structural diagram of a control device of an unmanned aerial vehicle according to an embodiment of the present application;
Fig. 5 shows a schematic structural diagram of a control system of an unmanned aerial vehicle according to an embodiment of the present application;
Fig. 6 shows a schematic structural diagram of a terminal according to an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.
The terms first, second and the like in the description and in the claims, 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 terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or otherwise described herein, and that the "first" and "second" distinguishing between objects generally are not limited in number to the extent that the first object may, for example, be one or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/" generally means a relationship in which the associated object is an "or" before and after.
The control method of the unmanned aerial vehicle provided by the embodiment of the application is described in detail below through some embodiments and application scenes thereof with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a control system of an unmanned aerial vehicle in an application scenario provided by the embodiment of the present application, where the control system of the unmanned aerial vehicle includes the following four-layer architecture.
The first layer is an unmanned aerial vehicle as a control object, the first layer is a manufacturer level, the unmanned aerial vehicle is divided into three types of unmanned aerial vehicles according to a communication mode, and the unmanned aerial vehicle comprises a non-internet-connected unmanned aerial vehicle, an internet-connected unmanned aerial vehicle and an internet-controlled unmanned aerial vehicle, and the internet-connected unmanned aerial vehicle and the internet-controlled unmanned aerial vehicle belong to the internet-connected unmanned aerial vehicle. The non-internet-connected unmanned aerial vehicle refers to an unmanned aerial vehicle which is not provided with a subscriber identity module (Subscriber Identity Module, SIM) card and cannot access a cellular network, take-off is controlled by a controller (such as a handheld terminal), and the non-internet-connected unmanned aerial vehicle is accessed to unmanned aerial vehicle management and control equipment through a handheld terminal network by introducing the handheld terminal and a management and control application program (APP) to realize management and control; the network-connected unmanned aerial vehicle is characterized in that the unmanned aerial vehicle is provided with a 4/5G communication module, automatically accesses a 4/5G cellular network, controls take-off and flight tracks by following a civil aviation standard cloud system, and the unmanned aerial vehicle cloud system is connected with unmanned aerial vehicle management and control equipment to apply for and obtain an authorized flight plan, controls the unmanned aerial vehicle, reports the flight tracks and records, and synchronizes to the unmanned aerial vehicle management and control equipment to file and audit flight records; the network control Unmanned aerial vehicle refers to an Unmanned aerial vehicle with a 5G enhanced communication module, supports Unmanned aerial vehicle (Unmaned AERIAL VEHICLE, UAV) management and control characteristics of a third generation partnership project (3rd Generation Partnership Project,3GPP) R17, and serves as enhancement of the network control Unmanned aerial vehicle, and 3GPP enhanced functions such as secondary authentication of the Unmanned aerial vehicle, position monitoring and the like are completed between an Unmanned aerial vehicle cloud system and a 5G cellular network.
The second tier is the drone control subsystem, which faces the vendor-level or enterprise-level, including the devices or subsystems that control the drone. For the non-internet-connected unmanned aerial vehicle, a controller (such as a handheld terminal) is used for controlling the non-internet-connected unmanned aerial vehicle; for a networking unmanned aerial vehicle, an unmanned aerial vehicle cloud system, a cloud system APP and a 5G cellular network are adopted to control the networking unmanned aerial vehicle and the network control unmanned aerial vehicle, wherein the unmanned aerial vehicle cloud system is a subsystem for controlling the networking unmanned aerial vehicle or the network control unmanned aerial vehicle provided by a manufacturer or an enterprise and is responsible for controlling the unmanned aerial vehicle and docking with unmanned aerial vehicle management and control equipment; the cloud system APP is a client of the unmanned aerial vehicle cloud system; the 5G cellular network is a 5G RAN and a core network of the UAV unmanned aerial vehicle based on 3GPP R17, and supports identification authentication, real-time position tracking and the like of the UAV unmanned aerial vehicle.
The third layer is unmanned aerial vehicle control equipment (control center), which is facing to the area and enterprise level, which is the core of the control system for controlling unmanned aerial vehicles, aircraft identity verification and approval, permission flight planning, flight monitoring and storage management, audit flight records and the like, which can be docked with Portal clients.
The fourth layer is a third party subsystem, which is oriented to a national level, and includes an unmanned aerial vehicle information base (UOM) of civil aviation bureau, an unmanned aerial vehicle driver association, that is, a flight hand information base (AOPA), an unmanned aerial vehicle air traffic control information service system (UTMISS), a map vendor GIS geographic subsystem, and the like, and the third party subsystem may be another type of subsystem, and the embodiment of the present application is not limited herein.
Referring to fig. 2, fig. 2 is a schematic diagram of main module components of a control device of a unmanned aerial vehicle according to an embodiment of the present application, which includes: m1 portal access component: including login management, providing an API interface (e.g., portal app client), interfacing with a third party subsystem, etc. M2 registration authentication component: the unmanned aerial vehicle registration authentication method comprises functions of unmanned aerial vehicle registration authentication, flight hand registration authentication and the like. M3 authentication license component: including airspace application, flight plan approval, plan management, release permission, and the like. M4 tracking monitor component: the system comprises functions of setting monitoring, monitoring management and the like. M5 resource management component: the system comprises the functions of a database, certificate encryption, load management and control, disaster recovery management and the like; m6 infrastructure management component: including functions of virtual machines, containers, computing, storage, network resource management, and the like. M7 operation and maintenance management component: the system comprises functions of flight audit, flight control strategy, trace backtracking, alarm management, backup recovery and the like.
In the embodiment of the application, after the unmanned aerial vehicle is connected to the unmanned aerial vehicle management and control equipment, independent authentication is needed to ensure the flight safety of the unmanned aerial vehicle, and the unmanned aerial vehicle has the functions of flight route pre-application, no-fly zone management, airspace management and the like according to the supervision requirements. While the capabilities of unmanned aerial vehicles vary, they can be broadly classified into the following categories:
(1) Non-internet access unmanned aerial vehicle.
(2) Ordinary data networking unmanned plane (network-connected unmanned plane).
(3) The network control unmanned aerial vehicle can be a 5G network control unmanned aerial vehicle.
The schemes required by unmanned aerial vehicles of different types for realizing flight control are different, and the unmanned aerial vehicle control equipment in the embodiment of the application, which is shown in the figures 1 and 2, is compatible with the unmanned aerial vehicles of the various types, and uniformly provides the capability of docking a third party subsystem, so that the third party subsystem is invoked to authenticate, authenticate and control the unmanned aerial vehicles of the various types.
The following describes a control method of an unmanned aerial vehicle provided by the embodiment of the present application, taking an application scenario mentioned in fig. 1 and fig. 2 as an example, where, as shown in fig. 3, the control method of an unmanned aerial vehicle provided by the embodiment of the present application includes:
Step S301, receiving, by the unmanned aerial vehicle management and control device, a registration request initiated by the unmanned aerial vehicle.
The unmanned aerial vehicle management and control equipment is used for performing qualification authentication and authentication on unmanned aerial vehicles of different types.
Specifically, the registration request is a request initiated by accessing the unmanned aerial vehicle to the unmanned aerial vehicle management and control device, and the unmanned aerial vehicle can be any type of unmanned aerial vehicle, such as a non-internet-connected unmanned aerial vehicle, an internet-controlled unmanned aerial vehicle and the like; any type of unmanned aerial vehicle can request to be accessed into unmanned aerial vehicle management and control equipment, and the unmanned aerial vehicle management and control equipment is used as a management and control center for managing and controlling various types of unmanned aerial vehicles, and calls a third party subsystem for qualification authentication and authentication on various types of unmanned aerial vehicles and uniformly manages and controls various types of unmanned aerial vehicles.
For different types of unmanned aerial vehicles, the registration request modes sent by the unmanned aerial vehicle are different, the types of unmanned aerial vehicles comprise a networking unmanned aerial vehicle and a non-networking unmanned aerial vehicle, the networking unmanned aerial vehicle further comprises the networking unmanned aerial vehicle and the network control unmanned aerial vehicle in the embodiment, and description of the networking unmanned aerial vehicle and the non-networking unmanned aerial vehicle can be referred to the description in the embodiment, and the embodiment of the application is not repeated here.
In one possible implementation, the types of unmanned aerial vehicles include a networked unmanned aerial vehicle and a non-networked unmanned aerial vehicle, and receiving, by the unmanned aerial vehicle management and control device, a registration request initiated by the unmanned aerial vehicle includes: under the condition that the unmanned aerial vehicle is a non-internet-connected unmanned aerial vehicle, the unmanned aerial vehicle management and control equipment receives a registration request initiated by the unmanned aerial vehicle through the handheld terminal, and under the condition that the unmanned aerial vehicle is the internet-connected unmanned aerial vehicle, the unmanned aerial vehicle management and control equipment receives the registration request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle cloud system.
Specifically, the handheld terminal can be a remote controller, the unmanned aerial vehicle and the handheld terminal mutually authenticate, the unmanned aerial vehicle is started and receives a flight instruction of the handheld terminal in real time during the flight of the unmanned aerial vehicle, the unmanned aerial vehicle is controlled through the handheld terminal, after authentication of the unmanned aerial vehicle and the handheld terminal is completed, the unmanned aerial vehicle uses a person/operator to initiate a registration application to the unmanned aerial vehicle management and control equipment through the handheld terminal, or the unmanned aerial vehicle uses a person to initiate a registration application to the unmanned aerial vehicle management and control equipment through an unmanned aerial vehicle cloud system.
Step S303, responding to the registration request, calling a first authentication system to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request through the unmanned aerial vehicle management and control equipment, and distributing a unique identification code to the unmanned aerial vehicle through the unmanned aerial vehicle management and control equipment and accessing the unmanned aerial vehicle management and control equipment under the condition that the qualification authentication passes.
Specifically, after receiving the registration request, the unmanned aerial vehicle management and control device responds to the registration request, and the unmanned aerial vehicle management and control device initiates qualification authentication to an external third party subsystem, wherein the first authentication system can be a civil aviation UOM system, a civil aviation AOPA system and the like, and qualification authentication on the unmanned aerial vehicle can be qualification authentication on unmanned aerial vehicle users/operators, validity of unmanned aerial vehicle devices, unmanned aerial vehicle drivers and the like.
Wherein, in one possible implementation manner, invoking, by the drone management device, the first authentication system to authenticate the drone corresponding to the registration request includes at least one of:
And invoking a civil aviation UOM system through the unmanned aerial vehicle management and control equipment to perform qualification authentication on the user of the unmanned aerial vehicle. And invoking a civil aviation UOM system through the unmanned aerial vehicle management and control equipment to perform qualification authentication on the equipment legitimacy of the unmanned aerial vehicle. And invoking a civil aviation AOPA system through the unmanned aerial vehicle management and control equipment to perform qualification authentication on the legality of the unmanned aerial vehicle user.
After the unmanned aerial vehicle is successfully registered, the unmanned aerial vehicle management and control equipment distributes a unique static number (unique identification code) to the unmanned aerial vehicle, and the unique static number can be used for verification when the unmanned aerial vehicle requests to access the unmanned aerial vehicle management and control equipment or the unmanned aerial vehicle cloud system.
Step S305, receiving, by the unmanned aerial vehicle management and control device, an authentication request initiated by the unmanned aerial vehicle, under the condition of accessing the unmanned aerial vehicle management and control device.
Specifically, the authentication request initiated by the unmanned aerial vehicle is authentication and authentication of airspace application, flight control, flight data audit and the like of the unmanned aerial vehicle. The object of the authentication request initiated is different for different unmanned aerial vehicles, for example, for a non-networked unmanned aerial vehicle, the authentication request can be initiated to the unmanned aerial vehicle management and control device through the handheld terminal, and for a networked unmanned aerial vehicle, the authentication request can be initiated to the unmanned aerial vehicle management and control device through the unmanned aerial vehicle cloud system.
The authentication request includes, but is not limited to, information such as an applicant type, an application organization or an application individual, an application airspace, file data, flight task properties, a civil aviation unmanned aerial vehicle real-name registration number, an emergency treatment program and the like.
Step S307, responding to the authentication request, calling a second authentication system through the unmanned aerial vehicle management and control equipment, and authenticating the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system.
Specifically, after receiving the authentication request, the unmanned aerial vehicle management and control device performs preliminary risk assessment and risk management on the airspace applied by the unmanned aerial vehicle, and invokes the third party subsystem to perform authentication and authentication on the unmanned aerial vehicle, wherein the second authentication system can be an airspace authentication system designated by an air traffic control department, such as a civil aviation UOM system, and the like. And authenticating the authentication content of the authentication request after authenticating the unmanned aerial vehicle through the unique identification code by the second authentication system.
In one possible implementation, the authentication request includes: the airspace application, the second authentication system comprises an airspace authentication system appointed by an air control department, the second authentication system is called through the unmanned aerial vehicle management and control equipment, and the authentication of the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system comprises the following steps:
And calling an airspace authentication system designated by the air traffic control department through the unmanned aerial vehicle management and control equipment, and authenticating the content of the airspace application through the airspace authentication system.
Specifically, the airspace authentication system specified by the air traffic control department can be a civil aviation UOM system, after receiving the authentication request, the unmanned aerial vehicle management and control equipment performs preliminary risk assessment and risk management on the airspace applied by the unmanned aerial vehicle, submits an airspace application to the civil aviation UOM system, and the content of the airspace application comprises, but is not limited to, the content in the authentication request and the content of preliminary risk assessment and risk management performed on the applied airspace by the unmanned aerial vehicle management and control equipment, and after the civil aviation UOM system authenticates the content of the airspace application, the result of the airspace application is returned to the handheld terminal or the unmanned aerial vehicle cloud system.
In one possible implementation, the authentication request includes: the flight plan application, the second authentication system comprises a civil aviation UOM system, the second authentication system is called through the unmanned aerial vehicle management and control equipment, and the authentication of the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system comprises the following steps:
The unmanned aerial vehicle control equipment is used for calling the civil aviation UOM system, submitting a flight plan application to the civil aviation UOM system, and authenticating the content of the flight plan application through the civil aviation UOM system.
Specifically, for the difference of unmanned aerial vehicle types, the unmanned aerial vehicle initiates a flight plan application to unmanned aerial vehicle management and control equipment through a handheld terminal or an unmanned aerial vehicle cloud system, wherein the flight plan application comprises information such as an applicant type, an application organization, an operator, a civil aviation unmanned aerial vehicle real name registration number, a plan period, an application airspace, file data, an emergency task, whether to fly in sight, flight task properties, an emergency treatment program, operation scene classification, flight times and the like; after the content in the flight plan application is preliminarily checked by the unmanned aerial vehicle management and control equipment, the flight plan application is submitted to the civil aviation UOM, the content of the flight plan application is authenticated by the civil aviation UOM system, and after the authentication of the content of the flight plan application by the civil aviation UOM system is completed, the unmanned aerial vehicle management and control equipment returns an authentication result of the flight plan application to the handheld terminal or the unmanned aerial vehicle cloud system.
In one possible implementation manner, the authentication request includes a flight application, the second authentication system includes a civil aviation UOM system, the second authentication system is invoked by the unmanned aerial vehicle management and control device, and the authentication of the unmanned aerial vehicle corresponding to the unique identification code by the second authentication system includes:
Under the condition that the unmanned aerial vehicle starting information is received through the unmanned aerial vehicle control equipment, confirming whether the unmanned aerial vehicle flight plan application and/or the airspace application are/is authenticated or not through the unmanned aerial vehicle control equipment; under the condition that the unmanned aerial vehicle flight plan application and/or the airspace application are/is authenticated, the unmanned aerial vehicle control equipment is used for calling the civil aviation UOM system, and the content of the flying application is authenticated through the civil aviation UOM system.
Specifically, as a non-internet-connected unmanned aerial vehicle, the starting-up and the handheld terminal of the non-internet-connected unmanned aerial vehicle are subjected to bidirectional code scanning authentication, and WIFI or Bluetooth connection is established. The handheld terminal or the unmanned aerial vehicle cloud system reports the starting information of the unmanned aerial vehicle to the unmanned aerial vehicle management and control equipment, the unmanned aerial vehicle management and control equipment confirms that the unmanned aerial vehicle management and control equipment has obtained the approval of the flight plan application and/or the airspace application, the unmanned aerial vehicle management and control equipment submits verification to an external third-party subsystem civil aviation UOM system, and after the external authentication of the external third-party subsystem civil aviation UOM system passes, the reporting number is returned to the unmanned aerial vehicle.
The handheld terminal or the unmanned aerial vehicle cloud system submits a flight application to unmanned aerial vehicle management and control equipment, wherein the flight application comprises, but is not limited to, a plan application code, an unmanned aerial vehicle flight space, flight positions, operation scene classification, equipment marks, unmanned aerial vehicle production record identity identification information, flight control serial numbers, communication serial numbers, driver information, plan time periods and other information, and the unmanned aerial vehicle management and control equipment combines space capacity, climate conditions and unmanned aerial vehicle electronic fence conditions with a civil aviation UOM system to authorize the unmanned aerial vehicle flight application.
After the content of the flying application is authenticated through the civil aviation UOM system, whether the flying application of the unmanned aerial vehicle is authorized is confirmed by the civil aviation UOM system and the unmanned aerial vehicle management and control equipment according to the airspace capacity and the electronic fence information of the airspace, and under the condition that any one of the airspace capacity and the electronic fence information of the airspace does not meet the authorization condition, the flying application of the unmanned aerial vehicle is not authorized, namely, the unmanned aerial vehicle is prohibited from taking off.
Step S309, controlling the unmanned aerial vehicle to take off through the unmanned aerial vehicle management and control equipment under the condition that the authentication passes.
Specifically, under the condition that the various authentications are passed, the unmanned aerial vehicle is stated to meet the take-off condition, then an instruction is issued to the handheld terminal or the unmanned aerial vehicle cloud system through the unmanned aerial vehicle management and control equipment, and the unmanned aerial vehicle is controlled to take off through the handheld terminal or the unmanned aerial vehicle cloud system.
According to the technical scheme provided by the embodiment of the application, the unmanned aerial vehicle management and control equipment receives a registration request initiated by the unmanned aerial vehicle, the unmanned aerial vehicle management and control equipment is used for performing qualification authentication and authentication on unmanned aerial vehicles of different types, the unmanned aerial vehicle management and control equipment calls a first authentication system to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request in response to the registration request, and under the condition that the qualification authentication passes, the unmanned aerial vehicle management and control equipment distributes a unique identification code to the unmanned aerial vehicle and accesses the unmanned aerial vehicle management and control equipment; under the condition of accessing unmanned aerial vehicle control equipment, receiving an authentication request initiated by the unmanned aerial vehicle through the unmanned aerial vehicle control equipment; responding to the authentication request, calling a second authentication system through the unmanned aerial vehicle management and control equipment, and authenticating the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system; under the condition that authentication and authentication pass, the unmanned aerial vehicle is controlled to take off through the unmanned aerial vehicle control equipment, so that the unmanned aerial vehicle take-off control method and device can integrate various types of unmanned aerial vehicles and all external authentication systems, the unmanned aerial vehicle control equipment calls the external authentication systems to uniformly control various types of unmanned aerial vehicles, namely, the unmanned aerial vehicle control equipment calls the external authentication systems to perform qualification and authentication on various types of unmanned aerial vehicles, and then take-off of the unmanned aerial vehicle is controlled, so that the control efficiency and the control reliability of various types of unmanned aerial vehicles are improved.
In a possible implementation manner, in a case that authentication passes, after controlling the unmanned aerial vehicle to take off by the unmanned aerial vehicle management and control device, the method further includes:
Receiving a flight control notification initiated by the second authentication system through the unmanned aerial vehicle management and control equipment, forwarding the flight control notification to the handheld terminal through the unmanned aerial vehicle management and control equipment under the condition that the unmanned aerial vehicle is a non-networked unmanned aerial vehicle, and controlling the unmanned aerial vehicle to carry out a flight state corresponding to the flight control notification through the handheld terminal; under the condition that the unmanned aerial vehicle is a networking unmanned aerial vehicle, forwarding the flight control notification to the unmanned aerial vehicle cloud system through the unmanned aerial vehicle management and control equipment, and controlling the unmanned aerial vehicle to carry out the flight state corresponding to the flight control notification through the unmanned aerial vehicle cloud system.
Specifically, the external second authentication system may be an unmanned aerial vehicle air traffic control information service system (UTMISS), the unmanned aerial vehicle air traffic control information service system (UTMISS) initiates a flight control notification to the unmanned aerial vehicle management and control device, the unmanned aerial vehicle management and control device sends the flight control notification to a corresponding handheld terminal or unmanned aerial vehicle cloud system after analysis, and the handheld terminal or the unmanned aerial vehicle cloud system reports a control result to the unmanned aerial vehicle management and control device after completing control operation of the unmanned aerial vehicle, and the unmanned aerial vehicle management and control device reports the control result to the external second authentication system. The content included in the flight control notification may be controlling the flight state of the unmanned aerial vehicle, and controlling the area allowed to fly by the unmanned aerial vehicle, where the flight state includes, but is not limited to, the flight speed, the flight level, and the like.
In one possible implementation manner, after controlling the unmanned aerial vehicle to take off by the unmanned aerial vehicle management and control device in the case that the authentication passes, the method further comprises: and monitoring the flight state of the unmanned aerial vehicle.
Specifically, during the flight of the unmanned aerial vehicle, the flight state of the unmanned aerial vehicle can be reported to the handheld terminal or the unmanned aerial vehicle cloud system at regular time, the flight state comprises but is not limited to the flight speed and the position information acquired by the positioning system, the flight state is uploaded to the unmanned aerial vehicle management and control equipment through the handheld terminal or the unmanned aerial vehicle cloud system, and the unmanned aerial vehicle management and control equipment monitors the flight state of the unmanned aerial vehicle.
In addition, the unmanned aerial vehicle can periodically initiate an electronic fence update application to the unmanned aerial vehicle cloud system or the handheld terminal during the flight, the unmanned aerial vehicle cloud system or the handheld terminal synchronously acquires the electronic fence information of the unmanned aerial vehicle through the unmanned aerial vehicle management and control equipment or the third party subsystem and then issues the electronic fence information to the unmanned aerial vehicle, and the unmanned aerial vehicle downloads the electronic fence information offline, so that whether the unmanned aerial vehicle enters a no-fly zone or not is automatically judged during the flight, and if the running-in behavior is found, the landing or return action is automatically implemented.
Wherein, the monitoring to unmanned aerial vehicle's flight status includes: under the condition that the unmanned aerial vehicle is a networking unmanned aerial vehicle, a flight monitoring request initiated by the unmanned aerial vehicle cloud system to unmanned aerial vehicle management and control equipment is received. And responding to the flight monitoring request, determining a service network element for providing monitoring service according to the network state and the position information of the unmanned aerial vehicle, and monitoring the flight state of the unmanned aerial vehicle through the service network element.
Specifically, the unmanned aerial vehicle cloud system initiates a flight monitoring request to the unmanned aerial vehicle management and control equipment through the 5G network, and the flight monitoring request comprises, but is not limited to, information such as a 3GPP UAV ID of the unmanned aerial vehicle or a monitored geographic area and the like according to different monitoring modes. The unmanned aerial vehicle management and control equipment determines a service network element providing monitoring service according to unmanned aerial vehicle capability, 5G network capability, positioning accuracy requirements and the like through a 5G network, sends a flight monitoring request to the corresponding service network element, executes flight monitoring, provides a flight monitoring report, and provides the flight monitoring report to an unmanned aerial vehicle cloud system through the 5G network by the service network element.
In one possible implementation manner, after controlling the unmanned aerial vehicle to take off by the unmanned aerial vehicle management and control device in the case that the authentication passes, the method further comprises: receiving flight data reported by an unmanned aerial vehicle through unmanned aerial vehicle management and control equipment, and auditing the flight data; and under the condition that the audit is not passed, limiting the next flying application of the unmanned aerial vehicle.
Specifically, the flight data of the unmanned aerial vehicle include, but are not limited to, a flight speed, a flight track, a flight area and the like, the unmanned aerial vehicle reports the flight data to the handheld terminal or the unmanned aerial vehicle cloud system, the unmanned aerial vehicle cloud system or the handheld terminal uploads the flight data to the unmanned aerial vehicle management and control equipment, the unmanned aerial vehicle management and control equipment audits the flight data, and if unqualified data exist in the flight data, the unmanned aerial vehicle is limited to use people, operators, unmanned aerial vehicle drivers and next take-off application of the unmanned aerial vehicle equipment.
In the embodiment of the present application, the control device of the unmanned aerial vehicle is described by taking the control method of loading the unmanned aerial vehicle by the control device of the unmanned aerial vehicle as an example.
Fig. 4 is a schematic structural view of a control device of the unmanned aerial vehicle according to an embodiment of the present invention. As shown in fig. 4, the control device 400 of the unmanned aerial vehicle includes: a receiving module 401, configured to receive a registration request initiated by an unmanned aerial vehicle through an unmanned aerial vehicle management and control device, where the unmanned aerial vehicle management and control device is configured to perform qualification authentication and authentication on different types of unmanned aerial vehicles; an authentication module 402, configured to respond to a registration request, invoke, by the unmanned aerial vehicle management and control device, a first authentication system to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request, and if the qualification authentication passes, allocate a unique identification code to the unmanned aerial vehicle by the unmanned aerial vehicle management and control device and access the unmanned aerial vehicle management and control device; the receiving module 401 is further configured to receive, by the unmanned aerial vehicle management and control device, an authentication request initiated by the unmanned aerial vehicle when the unmanned aerial vehicle management and control device is accessed; the authentication module 402 is further configured to invoke a second authentication system through the unmanned aerial vehicle management and control device in response to the authentication request, and perform authentication and authentication on the unmanned aerial vehicle corresponding to the unique identification code through the second authentication system; and the control module 403 is configured to control, by using the unmanned aerial vehicle management and control device, take-off of the unmanned aerial vehicle when the authentication passes.
According to the embodiment of the application, various unmanned aerial vehicles can be uniformly controlled by calling an external authentication system through the unmanned aerial vehicle control equipment, namely, after qualification authentication and authentication are carried out on various unmanned aerial vehicles by calling the external authentication system through the unmanned aerial vehicle control equipment, the unmanned aerial vehicle is controlled to take off, and the control efficiency and the control reliability of various unmanned aerial vehicles are improved.
In one possible implementation, the authentication module 402 is further configured to invoke, by the unmanned aerial vehicle management and control device, the civil aviation UOM system to perform qualification authentication on the user of the unmanned aerial vehicle; invoking a civil aviation UOM system through unmanned aerial vehicle management and control equipment to perform qualification authentication on the equipment legitimacy of the unmanned aerial vehicle; and invoking a civil aviation AOPA system through the unmanned aerial vehicle management and control equipment to perform qualification authentication on the legality of the unmanned aerial vehicle user.
In one possible implementation, the authentication request includes: the second authentication system includes an airspace authentication system specified by the air traffic control department, and the authentication module 402 is further configured to invoke the airspace authentication system specified by the air traffic control department through the unmanned aerial vehicle control device, and authenticate the content of the airspace application through the airspace authentication system.
In one possible implementation, the authentication request includes: the second authentication system comprises a civil aviation UOM system, and the authentication module 402 is further configured to invoke the civil aviation UOM system through the unmanned aerial vehicle control device, submit the flight plan application to the civil aviation UOM system, and authenticate the content of the flight plan application through the civil aviation UOM system.
In one possible implementation manner, the authentication request includes a flight application, the second authentication system includes a civil aviation UOM system, and the authentication module 402 is further configured to, when receiving, by the unmanned aerial vehicle control device, the start-up information of the unmanned aerial vehicle, confirm, by the unmanned aerial vehicle control device, whether the flight plan application and/or the airspace application of the unmanned aerial vehicle are authenticated; under the condition that the unmanned aerial vehicle flight plan application and/or the airspace application are/is authenticated, the unmanned aerial vehicle control equipment is used for calling the civil aviation UOM system, and the content of the flying application is authenticated through the civil aviation UOM system.
In one possible implementation, the method further includes: the confirmation module is used for confirming whether the unmanned aerial vehicle release application is authorized or not according to the airspace capacity and the electronic fence information of the airspace through the civil aviation UOM system and the unmanned aerial vehicle management and control equipment; the control module 403 is further configured to prohibit the unmanned aerial vehicle from taking off if any one of the airspace capacity and the electronic fence information of the airspace does not satisfy the authorization condition.
In one possible implementation manner, the types of the unmanned aerial vehicle include a networking unmanned aerial vehicle and a non-networking unmanned aerial vehicle, and the receiving module 401 is further configured to receive, through the unmanned aerial vehicle management and control device, a registration request initiated by the unmanned aerial vehicle by using the handheld terminal, in a case that the unmanned aerial vehicle is a non-networking unmanned aerial vehicle; under the condition that the unmanned aerial vehicle is a networking unmanned aerial vehicle, a registration request initiated by the unmanned aerial vehicle by utilizing an unmanned aerial vehicle cloud system is received through unmanned aerial vehicle management and control equipment.
In a possible implementation manner, the receiving module 401 is further configured to receive, by the drone management device, a flight control notification initiated by the second authentication system; forwarding a flight control notification to a handheld terminal through unmanned aerial vehicle management and control equipment under the condition that the unmanned aerial vehicle is a non-networked unmanned aerial vehicle, and controlling the unmanned aerial vehicle to carry out a flight state corresponding to the flight control notification through the handheld terminal; under the condition that the unmanned aerial vehicle is a networking unmanned aerial vehicle, forwarding the flight control notification to the unmanned aerial vehicle cloud system through the unmanned aerial vehicle management and control equipment, and controlling the unmanned aerial vehicle to carry out the flight state corresponding to the flight control notification through the unmanned aerial vehicle cloud system.
In one possible implementation, the method further includes: and the monitoring module is used for monitoring the flight state of the unmanned aerial vehicle.
In one possible implementation manner, the monitoring module is further configured to receive a flight monitoring request initiated by the unmanned aerial vehicle cloud system to the unmanned aerial vehicle management and control device in a case that the unmanned aerial vehicle is a networked unmanned aerial vehicle; and responding to the flight monitoring request, determining a service network element for providing monitoring service according to the network state and the position information of the unmanned aerial vehicle, and monitoring the flight state of the unmanned aerial vehicle through the service network element.
In a possible implementation manner, the receiving module 401 is further configured to receive, through the unmanned aerial vehicle management and control device, flight data reported by the unmanned aerial vehicle, and audit the flight data; and under the condition that the audit is not passed, limiting the next flying application of the unmanned aerial vehicle.
The control device of the unmanned aerial vehicle in the embodiment of the application can be an electronic device, such as an electronic device with an operating system, or can be a component in the electronic device, such as an integrated circuit or a chip. The electronic device may be a terminal, or may be other devices than a terminal.
The control device of the unmanned aerial vehicle provided by the embodiment of the application can realize each process realized by the method embodiment and achieve the same technical effect, and in order to avoid repetition, the description is omitted.
Optionally, as shown in fig. 5, an embodiment of the present application further provides a control system 500 of an unmanned aerial vehicle, including: the drone management device 501, the first authentication system 502, and the second authentication system 503;
the drone controlling device 501 is configured to perform the following steps: receiving a registration request initiated by an unmanned aerial vehicle, and performing qualification authentication, authentication and flight state monitoring on unmanned aerial vehicles of different types; in response to the registration request, invoking the first authentication system 502; the first authentication system 502 is configured to perform qualification authentication on the unmanned aerial vehicle corresponding to the registration request, and in a case where the qualification authentication passes, the unmanned aerial vehicle management and control device 501 is configured to assign a unique identification code to the unmanned aerial vehicle and access the unmanned aerial vehicle management and control device 501; receiving an authentication request initiated by the unmanned aerial vehicle under the condition of accessing the unmanned aerial vehicle management and control equipment 501; in response to the authentication request, invoking the second authentication system 503; the second authentication system 503 is configured to authenticate and authenticate the unmanned aerial vehicle corresponding to the unique identification code; and under the condition that authentication passes, the system is used for controlling the take-off of the unmanned aerial vehicle.
The unmanned aerial vehicle control system provided by the embodiment of the application can realize the steps of the unmanned aerial vehicle control method embodiment, and can achieve the same technical effects, and in order to avoid repetition, the embodiment of the application is not repeated here.
Optionally, as shown in fig. 6, the embodiment of the present application further provides a terminal 600, including a processor 601 and a memory 602, where the memory 602 stores a program or an instruction that can be executed on the processor 601, and the program or the instruction implements each step of the control method embodiment of the unmanned aerial vehicle when executed by the processor 601, and can achieve the same technical effects.
The embodiment of the application also provides a readable storage medium, and the readable storage medium stores a program or an instruction, which when executed by a processor, realizes each process of the control method embodiment of the unmanned aerial vehicle, and can achieve the same technical effects, and in order to avoid repetition, the description is omitted here.
Wherein the processor is the processor in the terminal in the above embodiment. Readable storage media include computer readable storage media such as computer readable memory ROM, random access memory RAM, magnetic or optical disks, and the like.
The embodiment of the application further provides a chip, the chip comprises a processor and a communication interface, the communication interface is coupled with the processor, the processor is used for running programs or instructions, the processes of the control method embodiment of the unmanned aerial vehicle can be realized, the same technical effects can be achieved, and the repetition is avoided, and the description is omitted here.
It should be understood that the chips referred to in the embodiments of the present application may also be referred to as system-on-chip chips, or the like.
The embodiment of the application further provides a computer program/program product, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement each process of the control method embodiment of the unmanned aerial vehicle, and the same technical effects can be achieved, so that repetition is avoided, and detailed description is omitted herein.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Furthermore, it should be noted that the scope of the methods and apparatus in the embodiments of the present application is not limited to performing the functions in the order shown or discussed, but may also include performing the functions in a substantially simultaneous manner or in an opposite order depending on the functions involved, e.g., the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
From the above description of embodiments, it will be apparent to those skilled in the art that the above-described example method may be implemented by software plus necessary general hardware platform, or may be implemented by hardware
The former is a preferred embodiment in many cases. Based on such understanding, technical solution 5 of the present application may be embodied essentially or in a part contributing to the prior art in the form of a computer software product stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk), comprising instructions for causing a terminal (which may be a mobile phone, a computer, a server, an air conditioner,
Or a network device, etc.) to perform the methods of the various embodiments of the application.
The embodiments of the present application have been described above with reference to the accompanying drawings, but the present application is not limited to the above-described embodiment 0, which is merely illustrative and not restrictive, and many forms may be made by those skilled in the art without departing from the spirit of the application and the scope of the appended claims, which are to be protected by the present application.

Claims (13)

1.一种无人机的控制方法，其特征在于，所述方法包括：1. A method for controlling an unmanned aerial vehicle, characterized in that the method comprises: 通过无人机管控设备接收无人机发起的注册请求，所述无人机管控设备用于对不同类型的无人机进行资格认证和鉴权认证；Receiving a registration request initiated by a drone through a drone control device, wherein the drone control device is used to perform qualification and authentication on different types of drones; 响应于所述注册请求，通过所述无人机管控设备调用第一认证系统对与所述注册请求对应的无人机进行资格认证，在资格认证通过的情况下，通过所述无人机管控设备向所述无人机分配唯一标识码并接入所述无人机管控设备；In response to the registration request, the drone control device calls a first authentication system to authenticate the drone corresponding to the registration request, and if the authentication passes, the drone control device assigns a unique identification code to the drone and connects it to the drone control device; 在接入所述无人机管控设备的情况下，通过所述无人机管控设备接收所述无人机发起的鉴权请求；When the drone control device is connected, receiving an authentication request initiated by the drone through the drone control device; 响应于所述鉴权请求，通过所述无人机管控设备调用第二认证系统，并通过所述第二认证系统对与所述唯一标识码对应的无人机进行鉴权认证；In response to the authentication request, calling a second authentication system through the drone control device, and authenticating the drone corresponding to the unique identification code through the second authentication system; 在鉴权认证通过的情况下，通过所述无人机管控设备控制所述无人机起飞。When the authentication is passed, the drone is controlled to take off through the drone control device. 2.根据权利要求1所述的方法，其特征在于，所述通过所述无人机管控设备调用第一认证系统对与所述注册请求对应的无人机进行资格认证包括以下至少一者：2. The method according to claim 1, wherein the calling of the first authentication system by the drone control device to authenticate the drone corresponding to the registration request comprises at least one of the following: 通过所述无人机管控设备调用民航UOM系统对所述无人机的使用人进行资格认证；The UAV control device calls the civil aviation UOM system to authenticate the user of the UAV; 通过所述无人机管控设备调用所述民航UOM系统对所述无人机的设备合法性进行资格认证；The UAV control device calls the civil aviation UOM system to authenticate the legitimacy of the UAV equipment; 通过所述无人机管控设备调用所述民航AOPA系统对所述无人机的使用人的合法性进行资格认证。The civil aviation AOPA system is called by the drone control device to authenticate the legitimacy of the user of the drone. 3.根据权利要求1所述的方法，其特征在于，所述鉴权请求包括：空域申请，所述第二认证系统包括空管部门指定的空域认证系统，所述通过所述无人机管控设备调用所述第二认证系统，并通过所述第二认证系统对与所述唯一标识码对应的无人机进行鉴权认证包括：3. The method according to claim 1, characterized in that the authentication request includes: an airspace application, the second authentication system includes an airspace authentication system designated by an air traffic control department, and the calling of the second authentication system by the drone control device and authenticating the drone corresponding to the unique identification code by the second authentication system includes: 通过所述无人机管控设备调用空管部门指定的空域认证系统，并通过所述空域认证系统对所述空域申请的内容进行认证。The airspace authentication system designated by the air traffic control department is called through the drone control device, and the content of the airspace application is authenticated through the airspace authentication system. 4.根据权利要求1所述的方法，其特征在于，所述鉴权请求包括：飞行计划申请，所述第二认证系统包括民航UOM系统，所述通过所述无人机管控设备调用所述第二认证系统，并通过所述第二认证系统对与所述唯一标识码对应的无人机进行鉴权认证包括：4. The method according to claim 1, characterized in that the authentication request includes: a flight plan application, the second authentication system includes a civil aviation UOM system, and the calling of the second authentication system by the drone control device and authenticating the drone corresponding to the unique identification code by the second authentication system includes: 通过所述无人机管控设备调用所述民航UOM系统，并向所述民航UOM系统提交所述飞行计划申请，通过所述民航UOM系统对所述飞行计划申请的内容进行认证。The civil aviation UOM system is called through the UAV control device, and the flight plan application is submitted to the civil aviation UOM system, and the content of the flight plan application is authenticated through the civil aviation UOM system. 5.根据权利要求1-4任意一项所述的方法，其特征在于，所述鉴权请求包括放飞申请，所述第二认证系统包括民航UOM系统，所述通过所述无人机管控设备调用所述第二认证系统，并通过所述第二认证系统对与所述唯一标识码对应的无人机进行鉴权认证包括：5. The method according to any one of claims 1 to 4, characterized in that the authentication request includes a release application, the second authentication system includes a civil aviation UOM system, and the calling of the second authentication system by the drone control device and authenticating the drone corresponding to the unique identification code by the second authentication system includes: 在通过所述无人机管控设备接收到所述无人机开机信息的情况下，通过所述无人机管控设备确认所述无人机的飞行计划申请和/或空域申请是否完成认证；When the UAV power-on information is received through the UAV control device, confirming through the UAV control device whether the flight plan application and/or airspace application of the UAV has been authenticated; 在所述无人机的飞行计划申请和/或空域申请完成认证的情况下，通过所述无人机管控设备调用所述民航UOM系统，并通过所述民航UOM系统对所述放飞申请的内容进行认证。When the flight plan application and/or airspace application of the UAV is authenticated, the civil aviation UOM system is called by the UAV control device, and the content of the release application is authenticated by the civil aviation UOM system. 6.根据权利要求5所述的方法，其特征在于，在所述无人机的飞行计划申请和/或空域申请完成认证的情况下，通过所述无人机管控设备调用所述民航UOM系统，并通过所述民航UOM系统对所述放飞申请的内容进行认证之后，所述方法还包括：6. The method according to claim 5, characterized in that, when the flight plan application and/or airspace application of the drone is authenticated, the civil aviation UOM system is called by the drone control device, and the content of the release application is authenticated by the civil aviation UOM system, the method further comprises: 通过所述民航UOM系统和所述无人机管控设备根据空域容量以及空域的电子围栏信息确认是否对所述无人机的放飞申请授权；Confirming whether to apply for authorization to fly the drone based on the airspace capacity and the electronic fence information of the airspace through the civil aviation UOM system and the drone control equipment; 在所述空域容量以及空域的电子围栏信息中的任意一者不满足授权条件的情况下，则禁止所述无人机起飞。If either the airspace capacity or the electronic fence information of the airspace does not meet the authorization conditions, the drone is prohibited from taking off. 7.根据权利要求1所述的方法，其特征在于，所述无人机的类型包括联网无人机和非网联无人机，所述通过无人机管控设备接收无人机发起的注册请求包括：7. The method according to claim 1, characterized in that the types of the drones include networked drones and non-networked drones, and the receiving a registration request initiated by the drone through the drone control device comprises: 在所述无人机为非网联无人机的情况下，通过所述无人机管控设备接收所述无人机利用手持终端发起的注册请求；In the case where the drone is a non-networked drone, receiving, by the drone control device, a registration request initiated by the drone using a handheld terminal; 在所述无人机为联网无人机的情况下，通过所述无人机管控设备接收所述无人机利用无人机云系统发起的注册请求。In the case where the drone is a networked drone, a registration request initiated by the drone using the drone cloud system is received by the drone control device. 8.根据权利要求7所述的方法，其特征在于，在所述在鉴权认证通过的情况下，通过所述无人机管控设备控制所述无人机起飞之后，所述方法还包括：8. The method according to claim 7, characterized in that, after the drone takes off by controlling the drone control device when the authentication is passed, the method further comprises: 通过所述无人机管控设备接收所述第二认证系统发起的飞行管制通知；Receiving a flight control notification initiated by the second authentication system through the drone control device; 在所述无人机为非网联无人机的情况下，通过所述无人机管控设备转发所述飞行管制通知至所述手持终端，并通过所述手持终端控制所述无人机进行与所述飞行管制通知对应的飞行状态；In the case where the drone is a non-networked drone, the flight control notification is forwarded to the handheld terminal by the drone control device, and the handheld terminal controls the drone to perform a flight state corresponding to the flight control notification; 在所述无人机为联网无人机的情况下，通过所述无人机管控设备转发所述飞行管制通知至所述无人机云系统，并通过所述无人机云系统控制所述无人机进行与所述飞行管制通知对应的飞行状态。In the case where the drone is a networked drone, the flight control notification is forwarded to the drone cloud system through the drone control device, and the drone is controlled by the drone cloud system to perform a flight state corresponding to the flight control notification. 9.根据权利要求7所述的方法，其特征在于，在所述在鉴权认证通过的情况下，通过所述无人机管控设备控制所述无人机起飞之后，所述方法还包括：9. The method according to claim 7, characterized in that, after the drone takes off by controlling the drone control device when the authentication is passed, the method further comprises: 对所述无人机的飞行状态进行监控。The flight status of the UAV is monitored. 10.根据权利要求9所述的方法，其特征在于，所述对所述无人机的飞行状态进行监控包括：10. The method according to claim 9, characterized in that monitoring the flight status of the drone comprises: 在所述无人机为联网无人机的情况下，接收所述无人机云系统向无人机管控设备发起的飞行监控请求；In the case where the drone is a networked drone, receiving a flight monitoring request initiated by the drone cloud system to the drone control device; 响应于所述飞行监控请求，根据所述无人机所在的网络状态和位置信息确定提供监控服务的服务网元，通过所述服务网元监控所述无人机的飞行状态。In response to the flight monitoring request, a service network element providing monitoring services is determined according to the network status and location information of the drone, and the flight status of the drone is monitored through the service network element. 11.根据权利要求1所述的方法，其特征在于，在所述在鉴权认证通过的情况下，通过所述无人机管控设备控制所述无人机起飞之后，所述方法还包括：11. The method according to claim 1, characterized in that, after the drone takes off by controlling the drone control device when the authentication is passed, the method further comprises: 通过所述无人机管控设备接收所述无人机上报的飞行数据，并对所述飞行数据进行审计；Receive flight data reported by the drone through the drone control device, and audit the flight data; 在所述审计不通过的情况下，限制所述无人机下一次的放飞申请。If the audit fails, the next flight application of the drone will be restricted. 12.一种无人机的控制系统，其特征在于，包括：无人机管控设备、第一认证系统和第二认证系统；12. A control system for an unmanned aerial vehicle, characterized in that it comprises: an unmanned aerial vehicle control device, a first authentication system and a second authentication system; 所述无人机管控设备用于执行以下步骤：The drone control device is used to perform the following steps: 接收无人机发起的注册请求，对不同类型的无人机进行资格认证、鉴权认证和监控飞行状态；Receive registration requests from drones, perform qualification and authentication on different types of drones, and monitor flight status; 响应于所述注册请求，调用第一认证系统；In response to the registration request, calling a first authentication system; 所述第一认证系统用于对与所述注册请求对应的无人机进行资格认证，在资格认证通过的情况下，所述无人机管控设备用于向所述无人机分配唯一标识码并接入所述无人机管控设备；The first authentication system is used to perform qualification authentication on the drone corresponding to the registration request. If the qualification authentication is passed, the drone control device is used to assign a unique identification code to the drone and connect it to the drone control device; 在接入所述无人机管控设备的情况下，接收所述无人机发起的鉴权请求；When the drone control device is connected, receiving an authentication request initiated by the drone; 响应于所述鉴权请求，调用所述第二认证系统；In response to the authentication request, calling the second authentication system; 所述第二认证系统用于对与所述唯一标识码对应的无人机进行鉴权认证；The second authentication system is used to authenticate the drone corresponding to the unique identification code; 在鉴权认证通过的情况下，用于控制所述无人机起飞。When the authentication is passed, it is used to control the drone to take off. 13.一种终端，其特征在于，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至11任一项所述的方法的步骤。13. A terminal, characterized in that it comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method according to any one of claims 1 to 11 are implemented.
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