Preventing unauthorized use of unmanned vehicles

An integrity checking apparatus comprising:

• at least one sensor;
• at least one processor;
• and
• at least one memory comprising computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the integrity checking apparatus to:
• receive via the at least one sensor a first data set from an unmanned vehicle at a first time instant, the first data set representing an operational state of the unmanned vehicle at the first time instant;
• receive a second data set from a motion controller of the unmanned vehicle at the first time instant, the second data set representing a control state of the unmanned vehicle at the first time instant;
• determine a signature based on the first and the second data sets;
• receive via the at least one sensor a first checking data set at a second time instant, which is after the first time instant, the first checking data set representing the operational state of the unmanned vehicle at the second time instant;
• receive a second checking data set from motion control data of the unmanned vehicle at the second time instant, the second checking data set representing the control state of the unmanned vehicle at the second time instant;
• determine an integrity check value of the unmanned vehicle by comparing the signature against the first and the second checking data sets;
• and
• control the unmanned vehicle based on the integrity check value.

A non-transitory, computer-readable medium storing instructions that, when executed by at least one processor of an unmanned vehicle, perform a method for integrity checking, comprising:

• obtaining via at least one sensor a first data set from the unmanned vehicle, the first data set representing an operational state of the unmanned vehicle at a first time instant;
• obtaining a second data set from motion control data of the unmanned vehicle, the second data set representing a control state of the unmanned vehicle at the first time instant;
• determining a signature based on the first and the second data sets;
• obtaining via the at least one sensor of the unmanned vehicle a first checking data set, the first checking data set representing the operational state of the unmanned vehicle at the second time instant;
• obtaining a second checking data set from the motion control data of the unmanned vehicle, wherein the first checking data set is different from the second checking data set, the second checking data set representing the control state of the unmanned vehicle at the second time instant;
• determining an integrity check value of the unmanned vehicle by comparing the signature against the sensors a first and a second checking data set;
• and
• controlling the unmanned vehicle based on the integrity check value.