CN108628329A - A kind of anti-interference attitude control method of spacecraft of TTC channel by replay attack - Google Patents
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Abstract
The present invention relates to a kind of TTC channels by the anti-interference attitude control method of spacecraft of replay attack.This method is for TTC channel between spacecraft and ground system by replay attack and spacecraft by the Spacecraft Attitude Control problem of environmental disturbances；First, attitude control system of the spacecraft model of the TTC channel by replay attack and spacecraft by environmental disturbances is established；Secondly, design full order observer is observed posture control system state with formed augmented system state is interfered, and utilizes observer information structuring composite controller；Again, it is the frame analysis replay attack for providing unified, constructs virtual system for above-mentioned augmented system and virtual controlling inputs, and then examines the whether detectable replay attack of attitude control system of the spacecraft；Finally, it can not detect replay attack in posture control system, design the controller containing watermark, construct a kind of anti-interference attitude control method of spacecraft of TTC channel by replay attack.The present invention is suitable for spacecraft attitude high-precision, highly reliable control.
Description
Technical Field
The invention relates to an anti-interference attitude control method for a spacecraft with a measurement and control link under replay attack, which can solve the problem of high-precision and high-reliability control of an attitude system with a spacecraft measurement and control link under replay attack in an interference environment.
Background
With the development of aerospace technology, more and more precise aerospace missions require a spacecraft attitude control system to have higher control precision. However, on one hand, due to the complex space environment, the spacecraft is interfered by external environments such as solar radiation torque, gravity gradient torque, magnetic interference torque and the like, and the interference torque can cause the attitude of the spacecraft to generate disturbance; on the other hand, as the outer space gradually becomes the highest strategic point of maintaining national security and vital interests of countries in the world, the space countermeasure has become an important strategic means of the country, the spacecraft is used as a main attack object in the space countermeasure, and a measurement and control link between the spacecraft and the ground system is easily attacked by replay of enemies, so that the ground system receives wrong measurement information, the ground system makes wrong control decisions, and the task of the spacecraft fails and even crashes. The attack process of the replay attack is mainly divided into three steps, wherein in the first step, the historical value of the past measurement information is recorded by using a network monitoring method; secondly, capturing and erasing the current measurement information; and thirdly, replacing the current value of the measurement information with the historical value of the measurement information. Therefore, the method for controlling the anti-interference attitude of the spacecraft under the replay attack has important significance.
The maximum error detection in the conventional false information detection technology is widely applied to a static model system. Both chinese patent application No. 201310237995.9 and chinese patent application No. 201410059572.7 employ a filter residual-chi-square detection method to detect the maximum error. However, when an attacker has some a priori knowledge of the structure of the system, the attacker can inject deviations in a specific direction into the system and does not cause a change in the error. Similarly, if the attacker plays back the historical value of the measurement information to my party, under certain conditions, the error does not change, and the system cannot detect the attack. The chinese patent application No. 201510652179.3 proposes a satellite navigation forwarding type spoofing attack defense method and apparatus, but the forwarding type spoofing attack is different from the replay attack in that although the historical value of the measurement information is injected to our party, the true signal is not erased, the patent selects the signal with the largest transmission world signal as the true signal, and in the replay attack, the enemy not only plays back the historical value of the measurement information to our party, but also erases the true measurement information, so that the system cannot obtain the true measurement information; the Chinese patent application number 201010042089.X provides a replay attack prevention system for an industrial wireless network, but a third-party detection module is introduced into the system, so that the complexity of a control system is increased, and the rapidity of the control system is influenced. In summary, the existing method cannot solve the problem of control of a system under a replay attack in an interference environment, and high-precision and high-reliability control of the attitude of the spacecraft is achieved.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the problem that the existing control system is difficult to realize the high-precision control of an attitude system in which a spacecraft measurement and control link is attacked by playback in an interference environment, the anti-interference attitude control method of the spacecraft in which the measurement and control link is attacked by playback is designed, and the method has the advantages of strong anti-interference performance and high autonomy.
The technical scheme adopted by the invention for solving the technical problems is as follows: an anti-interference attitude control method of a spacecraft with a measurement and control link under replay attack aims at the attitude control problem of the spacecraft with the measurement and control link under replay attack and containing environmental interference between the spacecraft and a ground system; firstly, establishing a spacecraft attitude control system model for observing and controlling a link under playback attack and a platform under environmental interference; secondly, designing a full-order observer to observe an augmentation system consisting of the state and the interference of the spacecraft attitude control system, and constructing a composite controller by utilizing observer information; thirdly, in order to provide a uniform framework for analyzing replay attack, a virtual system and a virtual control input are constructed for the augmentation system, and whether the spacecraft attitude control system can detect the replay attack is further checked; and finally, under the condition that the spacecraft attitude control system cannot detect replay attack, designing a controller containing a watermark mark, and constructing the anti-interference attitude control method for the spacecraft, which is used for measuring and controlling the link to be attacked by the replay attack. The specific implementation steps are as follows:
firstly, establishing a spacecraft attitude control system model sigma for measuring and controlling playback attack of a link and environmental interference of a platform1：
Wherein x is [ x ]1x2]TIn order to be in the state of the system,is the time derivative of the state of the system,theta and psi are respectively the rolling angle, the pitch angle and the yaw angle of the spacecraft,roll angular velocity, pitch angular velocity and yaw angular velocity, respectively, y is a measurement output, u ═ u [ u ]1u2... un]TFor control input, uiFor the ith control input, i is 1,2,3, y' is a replay attack signal, d is a modelable environmental disturbance, and the requirements are metα is normal value, C0For a matrix of coefficients of appropriate dimensions, the matrix of coefficientsJ is the moment of inertia of the spacecraft, J-1Is an inverse matrix of the moment of inertia matrix J, 03×3And I3×3Respectively representing a 3 < th > order zero matrix and a 3 < th > order identity matrix, a non-linear matrixIn the form of a known non-linear function,is a non-linear matrixWith respect to the derivative of time t, ω is the absolute angular velocity of the attitude, ω ═ ωxωyωz]T，ωx、ωy、ωzAre respectively rolledAbsolute angular velocities of the channel, pitch channel and yaw channel,
external environmental disturbance d can be described by the following external model ∑2：
Where ω is the state of the external model,for the time derivative of the external model state, a coefficient matrixV is an adaptive constant known matrix, omega0Is a known constant.
And secondly, designing a full-order observer to observe an augmentation system consisting of the system state and the interference, and constructing a composite controller by using observer information, wherein the method is specifically realized as follows:
define the augmented state z ═ x ω]TThen system Σ1Can be converted into an augmentation system ∑ as follows3In the form of:
wherein,for time derivatives of the augmented state z, a matrix of coefficients E＝[I3×303×3]T；
Based on augmentation system sigma3Designed full-order observer sigma4Comprises the following steps:
wherein L is the gain of the full-order observer,in order to estimate the augmented state z,is an estimate of the state x of the system,for external model ∑2An estimate of the state omega is obtained by,is composed ofThe time derivative of (a) of (b),an estimate of y is output for the measurement.
According to a full-order observer sigma4Estimation of the augmented state zDesign spacecraft anti-interference attitude controller sigma5Comprises the following steps:
where K is the controller gain to be designed,for the estimation of the externally modelable disturbance d,K1＝[K03×2]， V1＝[03×6V]。
based on the linear system separation principle, the gain L of the full-order observer and the gain K of the controller are respectively solved through pole allocation:
|sI-(A-LC)|＝(s+ω1)n+2
|sI-(A0+B0K)|＝(s+ω2)n
where s is a complex variable, I is a unity matrix of appropriate dimensions, n > 0 is the order of the system, | denotes the determinant for solving the square matrix, ω1、ω2Given a constant, the bandwidth of the system is represented.
Anti-interference attitude controller sigma of spacecraft5Into a full-order observer ∑4In this way, an augmented state estimation value can be obtainedThe dynamic equation of (a) is:
thirdly, in order to provide a unified framework for analyzing the replay attack, a virtual system and a virtual control input are constructed for the augmentation system, and whether the system can detect the replay attack is further checked, which is specifically realized as follows:
to provide a unified framework to analyze playback disturbances y', playback is driedThe disturbance y' is regarded as a virtual system Σ6The output of (1):
wherein z' is a virtual system ∑4In the state of being enlarged, the light-emitting element,is the time derivative of z ', u' is the virtual system ∑4To the control input of (2).
For constructed virtual system ∑6The design of the full-order observer is sigma7：
Wherein,for the estimation of the virtual system augmented state z',an estimate of y 'is output for the virtual system measurements, and u' is the control input for the virtual system.
According to a full-order observer sigma7Estimating virtual system states, designing virtual system control inputs u' Σ8Comprises the following steps:
whereinIs an estimate of the virtual system state x',is an estimate of the external environmental disturbance d' in the virtual system, is an estimated value of the external environment interference model state omega' in the virtual system.
Inputting virtual system control into ∑8Into a full-order observer ∑7In this way, the estimated value of the virtual system expansion state can be obtainedThe dynamic equation of (a) is:
combining augmented state estimatesAnd virtual system augmented state estimateThe dynamic equation of (c) can be found:
by formula ∑9It can be seen that when the matrix A is used1＝A+B(K1-V1) When the characteristic roots of + LC all have negative real parts, the system cannot detect replay attacks.
And fourthly, under the condition that the system can not detect the playback attack, designing a controller containing the watermark as follows:
wherein K is the gain of the controller,is an estimate of the state x of the system,ζ represents the watermark sign and is a constant value, which is an estimate of the external environmental disturbance d.
Defining residual signalsThe residual evaluation function/is defined as follows:
when the system is not under the replay attack, thenγ represents a threshold value, which is a known constant.
Therefore, whether the system is under a replay attack can be judged by the following logic:
and once the observation and control link of the system is detected to be attacked by playback, the spacecraft is switched to the own attitude control system to adjust the attitude. Meanwhile, the replay attack is continuously detected, and the ground system is used for attitude control after the enemy stops the replay attack.
Compared with the prior art, the invention has the advantages that:
the invention relates to an anti-interference attitude control method of a spacecraft, aiming at the problems that the existing spacecraft attitude control system can not realize high-precision anti-interference and high-reliability control of the spacecraft attitude system under the condition that a measurement and control link between the spacecraft and a ground control system is subjected to playback attack, a full-order observer is designed to estimate and compensate the external environment interference, and a controller containing a watermark mark is designed to detect the playback attack under the condition that the spacecraft attitude control system can not detect the playback attack.
Drawings
Fig. 1 is an anti-interference attitude control method for a spacecraft, which measures and controls a link to be attacked by replay.
Detailed Description
The invention is further described with reference to the following figures and detailed description.
The invention relates to an anti-interference attitude control method for a spacecraft with a measurement and control link being attacked by replay, which comprises the following design steps: firstly, establishing a spacecraft attitude control system model for observing and controlling a link under playback attack and a platform under environmental interference; secondly, designing a full-order observer to observe an augmentation system consisting of the state and the interference of the spacecraft attitude control system, and constructing a composite controller by utilizing observer information; thirdly, in order to provide a uniform framework for analyzing replay attack, a virtual system and a virtual control input are constructed for the augmentation system, and whether the spacecraft attitude control system can detect the replay attack is further checked; and finally, under the condition that the spacecraft attitude control system cannot detect replay attack, designing a controller containing a watermark mark, and constructing the anti-interference attitude control method for the spacecraft, which is used for measuring and controlling the link to be attacked by the replay attack. The specific implementation steps are as follows:
firstly, establishing a spacecraft attitude control system model sigma for measuring and controlling playback attack of a link and environmental interference of a platform1：
Wherein x is [ x ]1x2]TIn order to be in the state of the system,is the time derivative of the state of the system,theta and psi are respectively the rolling angle, the pitch angle and the yaw angle of the spacecraft, the initial values are respectively 0.003rad, 0.01 rad and 0.03rad,roll angular velocity, pitch angular velocity and yaw angular velocity, respectively, the initial values are all 0rad/s, y is the measurement output, u ═ u [ [ u [ ]1u2... un]TFor control input, uiFor the ith control input, i is 1,2,3, y' is a replay attack signal, d is a modelable environmental disturbance and takes a value ofCoefficient matrixCoefficient matrixJ is the rotational inertia of the spacecraft and takes the value ofJ-1For rotating inertiaInverse of the quantity matrix J, 03×3And I3×3Respectively representing a 3 < th > order zero matrix and a 3 < th > order identity matrix, a non-linear matrixFor a known non-linear function, the specific expression is:
ω3constant angular velocity of the track, 0.0012rad/s, LboThe method comprises the following steps of representing a coordinate transformation matrix from a flexible spacecraft orbit coordinate system to a body coordinate system, wherein the specific expression is as follows:
is a non-linear matrixWith respect to the derivative of time t, ω is the absolute angular velocity of the attitude, ω ═ ωxωyωz]T，ωx、ωy、ωzThe absolute angular velocities of the roll channel, the pitch channel and the yaw channel are respectively,
external environmental disturbance d can be described by the following external model ∑2：
Where ω is the shape of the external modelThe state of the optical disk is changed into a state,for the time derivative of the external model state, a coefficient matrix
And secondly, converting the control system model into an augmentation system and constructing a virtual system, so as to provide a uniform framework for analyzing replay attacks, and specifically realizing the following steps:
define the augmented state z ═ x ω]TThen system Σ1Can be converted into an augmentation system ∑ as follows3In the form of:
wherein,for time derivatives of the augmented state z, a matrix of coefficients E＝[I3×303×3]T；
Based on augmentation system sigma3Designed full-order observer sigma4Comprises the following steps:
wherein L is the gain of the full-order observer,in an augmented stateAn estimate of the value of z is determined,is an estimate of the state x of the system,for external model ∑2An estimate of the state omega is obtained by,is composed ofThe time derivative of (a) of (b),an estimate of y is output for the measurement.
According to a full-order observer sigma4Estimation of the augmented state zDesign spacecraft anti-interference attitude controller sigma5Comprises the following steps:
where K is the controller gain to be designed,for the estimation of the externally modelable disturbance d,K1＝[K03×2]， V1＝[03×6V]。
the gain L of the full-order observer and the gain K of the controller respectively take values as follows:
anti-interference attitude controller sigma of spacecraft5Into a full-order observer ∑4In this way, an augmented state estimation value can be obtainedThe dynamic equation of (a) is:
thirdly, in order to provide a unified framework for analyzing the replay attack, a virtual system and a virtual control input are constructed for the augmentation system, and whether the system can detect the replay attack is further checked, which is specifically realized as follows:
in order to provide a uniform framework for analyzing the playback disturbances y ', the playback disturbances y' are treated as a virtual system Σ6The output of (1):
wherein z' is a virtual system ∑4In the state of being enlarged, the light-emitting element,is the time derivative of z ', u' is the virtual system ∑4To the control input of (2).
For constructed virtual system ∑6The design of the full-order observer is sigma7：
Wherein,for the estimation of the virtual system augmented state z',an estimate of y 'is output for the virtual system measurements, and u' is the control input for the virtual system.
According to a full-order observer sigma7Estimating virtual system states, designing virtual system control inputs u' Σ8Comprises the following steps:
whereinIs an estimate of the virtual system state x',is an estimate of the external environmental disturbance d' in the virtual system, is an estimated value of the external environment interference model state omega' in the virtual system.
Inputting virtual system control into ∑8Into a full-order observer ∑7In this way, the estimated value of the virtual system expansion state can be obtainedThe dynamic equation of (a) is:
combining augmented state estimatesAnd virtual system augmented state estimateThe dynamic equation of (c) can be found:
by formula ∑9It can be seen that when the matrix A is used1＝A+B(K1-V1) When the characteristic roots of + LC all have negative real parts, the system cannot detect replay attacks.
And fourthly, under the condition that the system can not detect the playback attack, designing a controller containing the watermark as follows:
wherein K is the gain of the controller,is an estimate of the state x of the system,ζ represents a watermark marker for the estimated value of the external environmental disturbance d, and the simulated value according to this embodiment is ζ ═ 0.020.020.02]T。
Defining residual signalsThe residual evaluation function/is defined as follows:
when the system is not under the replay attack, thenγ represents a threshold value, and the value of the present embodiment is γ is 6 × 10-6。
Therefore, whether the system is under a replay attack can be judged by the following logic:
and once the observation and control link of the system is detected to be attacked by playback, the spacecraft is switched to the own attitude control system to adjust the attitude. Meanwhile, the replay attack is continuously detected, and the ground system is used for attitude control after the enemy stops the replay attack.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (5)
1. An anti-interference attitude control method for a spacecraft for measuring and controlling a link under replay attack is characterized by comprising the following steps: the method comprises the following steps:
firstly, establishing a spacecraft attitude control system model for observing and controlling a link under playback attack and a platform under environmental interference;
secondly, designing a full-order observer to observe an augmentation system consisting of the state and the interference of the spacecraft attitude control system, and constructing a composite controller by utilizing observer information;
thirdly, in order to provide a uniform framework for analyzing replay attack, a virtual system and virtual control input are constructed aiming at the augmentation system, and whether the spacecraft attitude control system can detect the replay attack is further checked;
and fourthly, under the condition that the spacecraft attitude control system cannot detect replay attack, designing a controller containing a watermark to construct an anti-interference attitude control method for the spacecraft, which is used for measuring and controlling the link to be attacked by the replay attack.
2. The anti-interference attitude control method for the spacecraft for monitoring the replay attack of the link according to claim 1, wherein the attitude control method comprises the following steps: in the first step, a spacecraft attitude control system model sigma for measuring and controlling playback attack of a link and environmental interference of a platform is established1：
Wherein x is [ x ]1x2]TIn order to be in the state of the system, is the time derivative of the state of the system,theta and psi are respectively the rolling angle, the pitch angle and the yaw angle of the spacecraft,roll angular velocity, pitch angular velocity and yaw angular velocity, respectively, y is a measurement output, u ═ u [ u ]1u2... un]TFor control input, uiFor the ith control input, i is 1,2,3, y' is a replay attack signal, d is a modelable environmental disturbance, and the requirements are metα is normal value, C0For a matrix of coefficients of appropriate dimensions, the matrix of coefficientsJ is the moment of inertia of the spacecraft, J-1Is an inverse matrix of the moment of inertia matrix J, 03×3And I3×3Respectively representing a 3 < th > order zero matrix and a 3 < th > order identity matrix, a non-linear matrix In the form of a known non-linear function,is a non-linear matrixWith respect to the derivative of time t, ω is the absolute angular velocity of the attitude, ω ═ ωxωyωz]T，ωx、ωy、ωzThe absolute angular velocities of the roll channel, the pitch channel and the yaw channel are respectively,
external environmental disturbance d can be described by the following external model ∑2：
Where ω is the state of the external model,for the time derivative of the external model state, a coefficient matrixV is an adaptive constant known matrix, omega0Is a known constant.
3. The anti-interference attitude control method for the spacecraft for monitoring the replay attack of the link according to claim 1, wherein the attitude control method comprises the following steps: the second step is specifically realized as follows:
define the augmented state z ═ x ω]TThen system Σ1Can be converted into an augmentation system ∑ as follows3In the form of:
wherein,for time derivatives of the augmented state z, a matrix of coefficients E＝[I3×303×3]T；
Based on augmentation system sigma3Designed full-order observer sigma4Comprises the following steps:
wherein L is the gain of the full-order observer,in order to estimate the augmented state z, is an estimate of the state x of the system,for external model ∑2An estimate of the state omega is obtained by,is composed ofThe time derivative of (a) of (b),outputting an estimate of y for the measurement;
according to a full-order observer sigma4Estimation of the augmented state zDesign spacecraft anti-interference attitude controller sigma5Comprises the following steps:
where K is the controller gain to be designed,for the estimation of the externally modelable disturbance d,K1＝[K03×2]，V1＝[03×6V]；
based on the linear system separation principle, the gain L of the full-order observer and the gain K of the controller are respectively solved through pole allocation:
|sI-(A-LC)|＝(s+ω1)n+2
|sI-(A0+B0K)|＝(s+ω2)n
where s is a complex variable, I is a unity matrix of appropriate dimensions, n > 0 is the order of the system, | denotes the determinant for solving the square matrix, ω1、ω2A given constant, representing the bandwidth of the system;
anti-interference attitude controller sigma of spacecraft5Into a full-order observer ∑4In this way, an augmented state estimation value can be obtainedThe dynamic equation of (a) is:
4. the anti-interference attitude control method for the spacecraft for monitoring the replay attack of the link according to claim 1, wherein the attitude control method comprises the following steps: the third step is specifically realized as follows:
in order to provide a uniform framework for analyzing the playback disturbances y ', the playback disturbances y' are treated as a virtual system Σ6The output of (1):
wherein z' is a virtual system ∑4In the state of being enlarged, the light-emitting element,is the time derivative of z ', u' is the virtual system ∑4A control input of (2);
for constructed virtual system ∑6The design of the full-order observer is sigma7：
Wherein,for the estimation of the virtual system augmented state z',outputting an estimated value of y 'for the virtual system measurement, and u' is a control input of the virtual system;
according to a full-order observer sigma7Estimating virtual system states, designing virtual system control inputs u' Σ8Comprises the following steps:
wherein,is an estimate of the virtual system state x',is an estimate of the external environmental disturbance d' in the virtual system, an estimated value of an external environment interference model state omega' in the virtual system is obtained;
inputting virtual system control into ∑8Into a full-order observer ∑7In this way, the estimated value of the virtual system expansion state can be obtainedThe dynamic equation of (a) is:
combining augmented state estimatesAnd virtual system augmented state estimateThe dynamic equation of (c) can be found:
by formula ∑9It can be seen that when the matrix A is used1＝A+B(K1-V1) When the characteristic roots of + LC all have negative real parts, the system cannot detect replay attacks.
5. The anti-interference attitude control method for the spacecraft for monitoring the replay attack of the link according to claim 1, wherein the attitude control method comprises the following steps: and in the fourth step, under the condition that the system can not detect the playback attack, designing a controller containing the watermark as follows:
wherein K is the gain of the controller,is an estimate of the state x of the system,zeta represents watermark sign and is a constant value;
defining residual signalsThe residual evaluation function/is defined as follows:
when the system is not under the replay attack, thenγ represents a threshold value, which is a known constant;
therefore, whether the system is under a replay attack can be judged by the following logic:
once the measurement and control link of the system is detected to be attacked by replay, the spacecraft is switched to the own attitude control system to adjust the attitude, meanwhile, the replay attack is continuously detected, and the ground system is used for attitude control after the enemy stops the replay attack.
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| CN110531621A (en) * | 2019-09-05 | 2019-12-03 | 北京航空航天大学 | A kind of information physical system reliable control method towards under Hybrid Attack |
| CN111142549A (en) * | 2019-12-30 | 2020-05-12 | 北京航空航天大学 | Anti-interference attack detection and self-healing controller and control method for unmanned aerial vehicle attitude control system |
| CN111190428A (en) * | 2020-01-04 | 2020-05-22 | 曲阜师范大学 | Aircraft system self-adaptive attitude safety control method and system based on sensor and actuator attack, controller and control method |
| CN111813096A (en) * | 2020-08-11 | 2020-10-23 | 北京航空航天大学 | Unmanned aerial vehicle safety control method under attack of expected track signal |
| CN112666920A (en) * | 2020-12-11 | 2021-04-16 | 国网辽宁省电力有限公司经济技术研究院 | Attack monitoring and hazard assessment method for power information physical system |
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