CN107221327A - Unmanned plane manipulating rights discrimination method - Google Patents
Unmanned plane manipulating rights discrimination method Download PDFInfo
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- CN107221327A CN107221327A CN201710370741.2A CN201710370741A CN107221327A CN 107221327 A CN107221327 A CN 107221327A CN 201710370741 A CN201710370741 A CN 201710370741A CN 107221327 A CN107221327 A CN 107221327A
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- unmanned plane
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
- H04L9/0816—Key establishment, i.e. cryptographic processes or cryptographic protocols whereby a shared secret becomes available to two or more parties, for subsequent use
- H04L9/0819—Key transport or distribution, i.e. key establishment techniques where one party creates or otherwise obtains a secret value, and securely transfers it to the other(s)
Abstract
Short slab of the invention in order to overcome the safe identification technology of voice in the prior art for cooperating type unmanned plane is there is provided a kind of unmanned plane manipulating rights discrimination method, the voice messaging for recognizing manipulating rights between multiple interoperable unmanned planes.The present invention can be reduced during Voice-remote-control to voice encryption and the dependency degree of decipherment algorithm, the level of confidentiality of window function in speech recognition process is improved using Multi computer cooperation pattern, the unmanned plane difficulty that each phonetic order is cracked or intercepted in actually collaboration flight course is improved, so as to significantly enhance the security of remote control.
Description
Technical field
The present invention relates to high security voice control technology field, distinguished more particularly, to a kind of unmanned plane manipulating rights
Knowledge method.
Background technology
Unmanned plane is obtained in information, struck target, played an increasingly important role in terms of battle assessment, is almost applied
In each stage of war, the important directions that military power of the world develops unmanned plane as military capabilities.In the prior art
There is many speech recognitions and voice control technology, for example had Application No. CN201510145362 applied to unmanned plane
Chinese invention patent application provide a kind of sound control method suitable for unmanned plane, including：(1) remote control receives language
Sound is instructed；(2) phonetic order is sent to the control unit of unmanned plane；(3) control unit of unmanned plane decomposes phonetic order
Into the instruction of several single movements；(4) instruction of the unmanned aerial vehicle (UAV) control unit to several single movements is previewed；
(5) unmanned plane provides feedback information according to preview result to remote control.
Meanwhile, with the fast development of the communication technology, the means such as interference, eavesdropping steal voice information and cause data
The problem of leakage, is on the rise, and easily causes heavy losses.Therefore, the safety issue of voice communication becomes more and more important,
User also seems particularly urgent for the confidentiality demand of voice communication.In the prior art, application in this respect is focused primarily upon
The mode simply encrypt in ground control terminal, decrypted in unmanned generator terminal is carried out, but process is excessively cumbersome, adds processor
Load, even if or terminal a variety of secret grades are provided, also can not for ground control terminal to the selection of multiple unmanned planes it is corresponding plus
Close grade, operation poor practicability, degree of safety are low, and the phonetic order for especially representing manipulating rights is even more the misgivings for having this respect.
The content of the invention
In order to overcome the voice safe identification technology of expression manipulating rights in the prior art for cooperating type unmanned plane
Short slab, the invention provides a kind of unmanned plane manipulating rights discrimination method, for being distinguished between multiple interoperable unmanned planes
Know the phonetic order signal of manipulating rights, this method comprises the following steps：
(10) generation represents the phonetic order signal of unmanned plane manipulating rights；
(20) ground control cabinet sends the phonetic order signal to multiple interoperable different unmanned planes, it is described nobody
Machine is recognized to phonetic order signal, wherein when sending command signal one of the multiple unmanned plane and it is adjacent thereto remaining
The phonetic order signal received between unmanned plane is not quite identical.
Further, the step (20) further comprises：
(1) many sub-regions are dynamically divided for each unmanned plane region, the scope of all subregion is with time TIMEi
Change and all subregion at least includes two frame unmanned planes, i=0,1,2 ..., N, N is natural number more than 2, in all subregion
Inside at least two from unmanned plane node, if P1For in TIMEiThere is the general of C frame unmanned planes in moment same first subregion r
Rate, the probability with D shelf unmanned planes is P in the adjacent subarea domain j of first subregionj, j=1,2,3 ..., K, K is big
In 2 natural number, SCAnd SDIt is illustrated respectively in the quantity from unmanned plane node in the first subregion and adjacent subarea domain j, p and q
It is Big prime, ZqThe Big prime finite field of q element is indicated, then P1MeetHilbert (f (x)) is represented to function f
(x) Hilbert transform, S are carried outCRepresent the area of the first subregion, SD, jRepresent the adjacent subarea domain j's of first subregion
Area, E is SD, jThe root-mean-square value of root mean square is taken to 1-K；
(2) determine to correspond respectively to the main unmanned plane node of a frame unmanned plane and from unmanned plane section in each sub-regions
Point, the main unmanned plane node is used to receive the phonetic order signal V from ground control cabinetIt is main, it is described to be used from unmanned plane node
In the phonetic order main signal V of the main unmanned plane node in the subregion received where its ownFrom MAnd from its from
The adjacent subregion j of subregion where the body phonetic order reference signal V from unmanned plane nodeFrom S, j, subregion j is interior to be had
There are D frame unmanned planes, wherein VFrom M=VIt is main× k, VFrom S, j=VIt is main×PD,j,FunctionExpression takes function f
(x) upper integer；
(3) each described main unmanned plane node enters according to the phonetic order main signal and the phonetic order reference signal
Row communication；
(4) according to the result of communication of step (3), each main unmanned plane node carries out speech recognition, wherein for first
Subregion r window function is
Further, the change of the phonetic order reference signal and all subregion scope that are respectively sent from unmanned plane node is same
Step.
Further, the change of the phonetic order reference signal and all subregion scope that are respectively sent from unmanned plane node is different
Step.
Further, the phonetic order main signal includes the language in addition to temporal information and directional information in phonetic order
Message ceases, and the phonetic order reference signal on instruction in phonetic order including being performed the temporal information of time and on nothing
The man-machine directional information by deflecting.
Further, the phonetic order for being sent to each unmanned plane is encrypted the ground control cabinet, encryption
Key is W (ID, q2, E, Zq), wherein ID is nobody of subregion where the main unmanned plane node of phonetic order main signal to be received
Machine sum, and ID is in p and q2Between, wherein W (f (x)) represents to carry out wavelet transformation to function f (x).
Further, the step (3) includes：
(31) node A is set as main unmanned plane node, and node B is from unmanned plane node, IDBRepresent subregion where node A
ID, node A and node B in period piInterior secure communication, with s0H1(TIMEi) between seed generation node A and node B
The key of communication, then node A directly extract B public key KB,pi：=(H1(IDB),H1(TIMEi)), wherein H1(f (x)) represents f
(x) Gaussian function；
(32) calculating the first session key is：
Wherein ef(x)Represent e f (x) power；
(33) node B directly extracts A public key KA,pi：=(H1(IDA),H1(TIMEi)), calculate the second session key：
Further, the step (4) includes：Node A is using first session key to node A and node B number
According to being decrypted, node A and node B data are decrypted using second session key by node B.
Further, the subregion is border circular areas or regular polygon region.
Further, the cycle that the division of the subregion changes sends the cycle of phonetic order with ground control cabinet
It is directly proportional.
Further, within the different cycles, the main unmanned plane node is different with from the unlatching of unmanned plane node
Communication channel, for being communicated with ground control cabinet.
Further, the communication channel is pre-recorded in ground control cabinet, and according to the pre-recorded order root
It is used for the ground control cabinet successively according to the change of time and sends phonetic order to the unmanned plane.
The beneficial effects of the invention are as follows：Can reduce during Voice-remote-control to voice encryption and decipherment algorithm according to
Lai Du, the level of confidentiality of window function in speech recognition process is improved using Multi computer cooperation pattern, improves unmanned plane in actual collaboration
The difficulty that respective phonetic order is cracked or intercepted in flight course, so as to significantly enhance the security of remote control.
Brief description of the drawings
The flow chart for the unmanned plane manipulating rights discrimination method that Fig. 1 provides for the present invention.
Embodiment
The present invention is explained below in conjunction with the accompanying drawings：
As shown in figure 1, the invention provides a kind of unmanned plane manipulating rights discrimination method, for multiple interoperable
The phonetic order signal of manipulating rights is recognized between unmanned plane, this method comprises the following steps：
(10) generation represents the phonetic order signal of unmanned plane manipulating rights；
(20) ground control cabinet sends the phonetic order signal to multiple interoperable different unmanned planes, it is described nobody
Machine is recognized to phonetic order signal, wherein when sending command signal one of the multiple unmanned plane and it is adjacent thereto remaining
The phonetic order signal received between unmanned plane is not quite identical.
Preferably, the step (20) includes：
(1) many sub-regions are dynamically divided for each unmanned plane region, the scope of all subregion is with time TIMEi
Change and all subregion at least includes two frame unmanned planes, i=0,1,2 ..., N, N is natural number more than 2, in all subregion
Inside at least two from unmanned plane node, if P1For in TIMEiThere is the general of C frame unmanned planes in moment same first subregion r
Rate, the probability with D shelf unmanned planes is P in the adjacent subarea domain j of first subregionj, j=1,2,3 ..., K, K is big
In 2 natural number, SCAnd SDIt is illustrated respectively in the quantity from unmanned plane node in the first subregion and adjacent subarea domain j, p and q
It is Big prime, ZqThe Big prime finite field of q element is indicated, then P1Meet
Hilbert (f (x)) represents to carry out Hilbert transform, S to function f (x)CRepresent the area of the first subregion, SD, jRepresenting should
The adjacent subarea domain j of first subregion area, E is SD, jThe root-mean-square value of root mean square is taken to 1-K；
(2) determine to correspond respectively to the main unmanned plane node of a frame unmanned plane and from unmanned plane section in each sub-regions
Point, the main unmanned plane node is used to receive the phonetic order signal V from ground control cabinetIt is main, it is described to be used from unmanned plane node
In the phonetic order main signal V of the main unmanned plane node in the subregion received where its ownFrom MAnd from its from
The adjacent subregion j of subregion where the body phonetic order reference signal V from unmanned plane nodeFrom S, j, subregion j is interior to be had
There are D frame unmanned planes, wherein VFrom M=VIt is main× k, VFrom S, j=VIt is main×PD,j,FunctionExpression takes function f
(x) upper integer；
(3) each described main unmanned plane node enters according to the phonetic order main signal and the phonetic order reference signal
Row communication；
(4) according to the result of communication of step (3), each main unmanned plane node carries out speech recognition, wherein for first
Subregion r window function is
Preferably, the phonetic order reference signal respectively from the transmission of unmanned plane node is synchronous with the change of all subregion scope.
Preferably, the change of the phonetic order reference signal and all subregion scope that are respectively sent from unmanned plane node is asynchronous.
Preferably, the phonetic order main signal includes the voice in addition to temporal information and directional information in phonetic order
Information, the phonetic order reference signal on instruction in phonetic order including being performed the temporal information of time and on nobody
Machine is by the directional information of deflecting.
Preferably, the phonetic order for being sent to each unmanned plane is encrypted the ground control cabinet, encrypts close
Key is W (ID, q2, E, Zq), the unmanned plane of wherein ID subregions where the main unmanned plane node of phonetic order main signal to be received
Sum, and ID is in p and q2Between, wherein W (f (x)) represents to carry out wavelet transformation to function f (x).
Preferably, the step (3) includes：
(31) node A is set as main unmanned plane node, and node B is from unmanned plane node, IDBRepresent subregion where node A
ID, node A and node B in period piInterior secure communication, with s0H1(TIMEi) between seed generation node A and node B
The key of communication, then node A directly extract B public key KB,pi：=(H1(IDB),H1(TIMEi)), wherein H1(f (x)) represents f
(x) Gaussian function；
(32) calculating the first session key is：
Wherein ef(x)Represent e f (x) power；
(33) node B directly extracts A public key KA,pi：=(H1(IDA),H1(TIMEi)), calculate the second session key：
Preferably, the step (4) includes：Node A utilizes data of first session key to node A and node B
It is decrypted, node A and node B data are decrypted using second session key by node B.
Preferably, the subregion is border circular areas or regular polygon region.
Preferably, the division of the subregion changes cycle and ground control cabinet send cycle of phonetic order into
Direct ratio.
Preferably, within the different cycles, the main unmanned plane node leads to from the unlatching of unmanned plane node is different
Channel is believed, for being communicated with ground control cabinet.
Preferably, the communication channel is pre-recorded in ground control cabinet, and according to the pre-recorded order according to
The change of time and be used for successively the ground control cabinet to the unmanned plane send phonetic order.
Preferably, the multiple interoperable unmanned plane carries out key agreement.Due to privately owned second of all nodes
Point be s0H1 (TIMEi), thus can using s0H1 (TIMEi) as cluster conversation key or with s0H1 (TIMEi) for seed
Generate cluster conversation key.
Preferably, during the decryption, in addition to carrying out key revocation from node.In the prior art and in the absence of close
Key revocation is handled, but is studied through applicant and tested discovery, and this revocation can effectively ensure multiple interoperable nothings
The Row control of communication and encryption, decryption oprerations between man-machine is smooth, and then master for the present invention or from unmanned plane node
Validity updates the reference for providing and being rich in value.If the current time stage is Ti, time parameter is TIMEi, private key, which is cancelled, includes three
Part：Abnormal to notify, when node B detects node A abnormal behaviour, B will be generated and a finger for being directed to node A of signing
Control informationWherein sBIt is the timestamp of an anti-replay-attack.Then charge message label are close is sent to D- this by B
PKG nodes；Revocation information is generated, and D-PKG nodes are received after charge information, checking node B identity, and decrypts the message.Door
Limit value r purpose be prevent it is undiscovered turn traitor node forge can arbitrarily be directed to legitimate node charge message, r is how
Selection will balance the relation between detecting sensitivity and rate of false alarm.If reaching threshold value r for node A charge number,
T D-PKG node of selection elects a group leader, and each D-PKG nodes calculate S with the main private key share of oneselfi,A=siH1(IDA)
And sign it is close be sent to group leader, group leader calculates revocation information：Then broadcast the message
If in the range of the regular hour, other D-PKG nodes do not receive revocation messageThen re-elect one
Group leader, and accuse former group leader；Revocation confirms that other nodes in network are received after the revocation message for node A, will be usedW2＞ verify revocation message correctness, be proved to be successful, record the message and no longer with section
Point A carries out any information interchange.
" label are close " process therein refers to the close ciphering process of strap.If known：H1:{ 0,1 }*→G*；H2:G*→Z* q；H3:
Z* q→ { 0,1 }*；H4:{ 0,1 }*→Z* q；M ∈ { 0,1 }*；W1=m0P0.If node IDiTo node IDjClose message is signed, " label are close " tool
Body is realized as follows：
1：Node IDiRandomly choose b ∈ Z* q；
2：Calculate U=bP and V=b-1·(H4(M)·W1+H2(U)·m0H1(IDi))
3：Calculate g=e (H1(IDj),W1)bWithAnd will<c,U,V>It is sent to node IDj；
4：Node IDjWith the private key m of oneself0H1(IDj) calculate
5：Node IDjMessage M is verified, ifSet up, node IDjReceive
Message, otherwise it is assumed that illegal.
The present invention is described in detail above in association with accompanying drawing, but one of ordinary skill in the art knows, specification is only
For explaining claims.But protection domain of the presently claimed invention is not limited to specification.It is any to be familiar with this technology neck
The technical staff in domain is in the technical scope that the present invention is disclosed, and the change or replacement that can be readily occurred in should all be covered in this hair
Within bright required protection domain.Therefore, protection scope of the present invention should be defined by the protection domain of claims.
Claims (10)
1. a kind of unmanned plane manipulating rights discrimination method, for recognizing manipulating rights between multiple interoperable unmanned planes
Phonetic order signal, this method comprises the following steps：
(10) generation represents the phonetic order signal of unmanned plane manipulating rights；
(20) ground control cabinet sends the phonetic order signal, the unmanned plane pair to multiple interoperable different unmanned planes
Phonetic order signal is recognized, wherein when sending command signal one of the multiple unmanned plane and it is adjacent thereto remaining nobody
The phonetic order signal received between machine is not quite identical.
2. according to the method described in claim 1, it is characterised in that the step (20) further comprises：
(1) many sub-regions are dynamically divided for each unmanned plane region, the scope of all subregion is with time TIMEiChange
And all subregion at least includes two frame unmanned planes, i=0,1,2 ..., N, N is natural number more than 2, in all subregion extremely
Rare two from unmanned plane node, if P1For in TIMEiThere is the probability of C frame unmanned planes in moment same first subregion r,
The probability with D shelf unmanned planes is P in the adjacent subarea domain j of first subregionj, j=1,2,3 ..., K, K is more than 2
Natural number, SCAnd SDThe quantity from unmanned plane node in the first subregion and adjacent subarea domain j is illustrated respectively in, p and q are big
Prime number, ZqThe Big prime finite field of q element is indicated, then P1Meet
Hilbert (f (x)) represents to carry out Hilbert transform, S to function f (x)CRepresent the area of the first subregion, SD, jRepresenting should
The adjacent subarea domain j of first subregion area, E is SD, jThe root-mean-square value of root mean square is taken to 1-K；
(2) determine to correspond respectively to the main unmanned plane node of a frame unmanned plane and from unmanned plane node, institute in each sub-regions
State main unmanned plane node be used for receive the phonetic order signal V from ground control cabinetIt is main, it is described to be used to receive from unmanned plane node
The phonetic order main signal V of main unmanned plane node in subregion where its ownFrom MAnd from its own where
The adjacent subregion j of subregion the phonetic order reference signal V from unmanned plane nodeFrom S, j, subregion j is interior to have D framves
Unmanned plane, wherein VFrom M=VIt is main× k, VFrom S, j=VIt is main×PD,j,FunctionExpression takes function f's (x)
Upper integer；
(3) each described main unmanned plane node is led to according to the phonetic order main signal and the phonetic order reference signal
Letter；
(4) according to the result of communication of step (3), each main unmanned plane node carries out speech recognition, wherein for the first sub-district
Domain r window function is
3. according to the method described in claim 1, it is characterised in that each phonetic order reference signal sent from unmanned plane node
Change with all subregion scope is either synchronously or asynchronously.
4. according to the method described in claim 1, it is characterised in that when the phonetic order main signal includes removing in phonetic order
Between voice messaging beyond information and directional information, the phonetic order reference signal includes being held on instructing in phonetic order
The temporal information of row time and on unmanned plane by the directional information of deflecting.
5. according to the method described in claim 1, it is characterised in that the ground control cabinet is to being sent to each unmanned plane
Phonetic order be encrypted, encryption key be W (ID, q2, E, Zq), wherein ID is the main nothing of phonetic order main signal to be received
The unmanned plane sum of subregion where man-machine node, and ID is in p and q2Between, wherein W (f (x)) represents to carry out function f (x)
Wavelet transformation.
6. method according to claim 5, it is characterised in that the step (3) includes：
(31) node A is set as main unmanned plane node, and node B is from unmanned plane node, IDBThe ID of subregion where representing node A,
Node A and node B are in period piInterior secure communication, with s0H1(TIMEi) for what is communicated between seed generation node A and node B
Key, then node A directly extract B public key KB,pi：=(H1(IDB),H1(TIMEi)), wherein H1(f (x)) represents f (x) height
This function；
(32) calculating the first session key is：
Wherein ef(x)Represent e f (x) power；
(33) node B directly extracts A public key KA,pi：=(H1(IDA),H1(TIMEi)), calculate the second session key：
7. method according to claim 6, it is characterised in that the step (4) includes：Node A utilizes first meeting
Node A and node B data are decrypted words key, and node B is using second session key to node A's and node B
Data are decrypted.
8. according to the method described in claim 1, it is characterised in that the subregion is border circular areas or regular polygon region.
9. according to the method described in claim 1, it is characterised in that cycle and ground that the division of the subregion changes
The cycle that console sends phonetic order is directly proportional.
10. according to the method described in claim 1, it is characterised in that within the different cycles, the main unmanned plane node
With from the different communication channel of unmanned plane node unlatching, for being communicated with ground control cabinet.
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| CN201710370741.2A CN107221327A (en) | 2017-05-23 | 2017-05-23 | Unmanned plane manipulating rights discrimination method |
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