CN108762884A - A kind of flight control assemblies based on mobile phone - Google Patents
A kind of flight control assemblies based on mobile phone Download PDFInfo
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- CN108762884A CN108762884A CN201810369180.9A CN201810369180A CN108762884A CN 108762884 A CN108762884 A CN 108762884A CN 201810369180 A CN201810369180 A CN 201810369180A CN 108762884 A CN108762884 A CN 108762884A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45504—Abstract machines for programme code execution, e.g. Java virtual machine [JVM], interpreters, emulators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/44—Arrangements for executing specific programs
- G06F9/455—Emulation; Interpretation; Software simulation, e.g. virtualisation or emulation of application or operating system execution engines
- G06F9/45533—Hypervisors; Virtual machine monitors
- G06F9/45537—Provision of facilities of other operating environments, e.g. WINE
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Abstract
The invention discloses a kind of flight control assemblies based on mobile phone, include the transformation to client computer, and the transformation to client computer is divided into the transformation of input and output and to the transformation of communication system, and the transformation of the input and output is as follows：The various components of input/output module are run in host and the container of client computer, container each in this way can read input and output event from input-output equipment；Then a filter is added on the transmission path of input and output event, input and output event is filtered according to the state of current container by filter, if current container, on foreground, event continues to transmit by filter, otherwise event will be abandoned.The present invention virtualizes Android phone by using system-level virtualization technology, and then two systems can be run in Android phone, and is brushed in a system into UAV Flight Control System, reaches and controls unmanned plane during flying.
Description
Technical field
The present invention relates to UAV Flight Control device field, specially a kind of flight control assemblies based on mobile phone.
Background technology
Unmanned plane be it is a kind of it is dynamic, controllable, multiple-task equipment can be carried, execute multiple-task, and repeatable make
Unmanned aviation aircraft.Compared with traditional manned aircraft, it has small, low cost, easy to use, reaction
Quickly, maneuverability, to task environment require it is low, survival ability is strong the advantages that, in view of its exclusive advantage, the application of unmanned plane
Range has been widened to military, scientific research and civilian three big field.
In recent years, with the development of various aviations and electronic technology, the hair for making unmanned plane be advanced by leaps and bounds in performance
Exhibition.Increasing with unmanned plane during flying function, mission requirements become increasingly complex, and flight control system is made to become more and more multiple
It is miscellaneous, to which the frequency that breaks down is also higher and higher.The convenience of flight control assemblies is required also more and more.Flight control system
Unified denier breaks down, then aviation accident very likely occurs, causes very big loss.Therefore design have high fault-tolerant ability and
High reliability has become inevitable trend with flight control assemblies easy to use.
Although having there is the app on many mobile phones to carry out remote operation to unmanned plane now, inherently due to app
There are many safeties, so app has prodigious risk as the flight control assemblies of unmanned plane.App itself exists
Partial security sex chromosome mosaicism it is as follows：
Privilege abuse
Permission is normal permissions, may lead to sensitive information leakage；If program has root authority, and does not exchange
It, may be by malicious exploitation if being limited；Homologous to bypass loophole, activity, which is received, uses file：// Path First, does not have but
The execution for having disabling JavaScript, the privately owned file in arbitrary inside of application can be read by this loophole, causes information leakage.
Https verifies loophole
Loophole can lead to man-in-the-middle attack, using no verification server certificate, can lead to man-in-the-middle attack, leakage communication
Content.
Log sensitive information leakages
Android application programs have printed the sensitive information of user during program is run, and then these records are stored
In an operating system, general store path is /data/data application names.These information can be illegal by other programs
It reads.The especially information of these data sensitives such as usemame/password, the data etc. of transmission.These log cause sensitive information to let out
Dew.
Unsafe configuration
Global readable documents, the privately owned file that application memory can be read in any other application, may cause information
Leakage, app debug risk, allow program debugged；There are sensitive document disclosure risks for privately owned file；App backup risks allow
Program backup may cause user information to be revealed.
Component safety loophole
ContentResolver exposes loophole, and the power of provider can be bypassed by exposed ContentResolver
Limit limitation；There is collapse or abnormal in Activity security breaches, Activity, arbitrary other application can lead to that there are this loopholes
Application crashes or funcall；There is collapse or abnormal in Service security breaches, Service, any other application can
Cause more to collapse there are the application of this loophole or funcall；Receiver security breaches, BroadcastReceiver exist
Either abnormal any other application can cause more to collapse there are the application of this loophole or funcall for collapse；Activity connects
Mouth may be called by other application, for executing specific sensitive operation or fishing deception；Broadcast message disclosure risk, broadcast can
To be received by other rogue programs, user information is caused to reveal or terminate broadcast.
The above security hole is once utilized, and the control of unmanned plane may fail or mistake, it is most likely that
Aviation accident occurs, causes prodigious loss.
Invention content
The purpose of the present invention is to provide a kind of flight control assemblies based on mobile phone, in order to increase UAV Flight Control
The convenience of device and safety, the present invention virtualize Android phone using system-level virtualization technology, in turn
Two systems can be run in Android phone, and are brushed in a system into UAV Flight Control System.
To achieve the above object, the present invention provides the following technical solutions：A kind of flight control assemblies based on mobile phone, including
Transformation to client computer, the transformation to client computer is divided into the transformation of input and output and to the transformation of communication system, described defeated
The transformation for entering output is as follows：The various components of input/output module are run in host and the container of client computer, it is every in this way
A container can read input and output event from input-output equipment；Then add on the transmission path of input and output event
Add a filter, input and output event is filtered according to the state of current container by filter, if current container
On foreground, then event continues to transmit by filter, otherwise event will be abandoned.
The transformation of the communication system is as follows：Because host and client machine system use the kernel of the same linux, institute
To use the same Binder to drive.The file of a special identifier is respectively created in client computer and host, is taking
It can differentiate different systems according to special mark when business request, and then realize that communication between the two is independent of each other,
And it can normally carry out.
Compared with prior art, beneficial effects of the present invention are as follows：
(1) system-level virtualization technology is used, VMM layer need not be added and be managed, and host and client computer
The android system run parallel can share a set of code, it is possible to reduce CPU and memory consumption, and remain original
The numerous characteristics of android system can be continuing with the power consumption that original power management module reduces Android device.
(2) container manager has been designed and Implemented.It can be adapted to Android environment, and can successfully open fortune
Row client computer.
(3) mechanism of new input and output switching has been designed and Implemented, this handover mechanism is realized at Framework layers,
Therefore there is versatility for different hardware platforms.
(4) new Binder drivings have been designed and Implemented.By being identified to different operating system, and then to request
Service name is identified, and is realized not interfereing with each other for different system communication, is normally carried out.This design is for different hardware platforms
With versatility.
(5) flight control system that unmanned plane is disposed in new Linux system is not only conveniently operated, but also is avoided
Some security breaches in app, more securely and reliably.
Description of the drawings
Fig. 1 is the Organization Chart of one embodiment of the present of invention；
Fig. 2 is input system structure chart of the present invention；
Fig. 3 is the graphical display flow chart of android system display module of the present invention；
Fig. 4 is that the modified Binder of the present invention drives framework；
Fig. 5 is the Booting sequence figure of android system of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes.
Fig. 1 is the Organization Chart of one embodiment of the present of invention entirety, includes a host and one in present example
Client computer.In host On-premise LXC tools, by the container of one linux environment of LXC instrument creations, in this embodiment
The client computer for creating Android environment carries out input and output and the transformation of communication system to client computer, improved environment with
It is adapted to UAV Flight Control System.
It needs to open the relevant configuration of kernel when compiling Android kernels to be adapted to the deployment of client computer.?
Opened in Linux/arm 3.4.0Kernel Configuration General setup POSIX Message Queues,
Memory Resource Controller are excluded in Namespace support and Control Group Support
Other options except for Control Groups open the Character devices options in Device Drivers.
Compiled kernel brush is entered in mobile phone.
Since android system does not support LXC tools, need LXC tools carrying out cross compile, cross compile is good
In LXC file copies to Android phone, lxc-execute orders are executed, create a container.Client computer is run herein.
It successfully starts up and input and output to client computer and communication system is needed after Android client computer to modify, with
Ensure that host and client computer are completely isolated, is mutually independent of each other.
Input system is amended as follows：Since host and client computer use same set of linux kernel, multiple input to set
It is standby, can be public by two systems institute such as touch screen, press key lamp, the event of each input equipment can be sent to all
In android system, but for multiple Android after virtualization, only have in the system that the same moment operates in foreground
One, the event message of input equipment only needs to operate in the android system processing on foreground.Android system is
The message event of input is obtained by reading Linux input equipments file, these device files are located at/dev/input catalogues
Under.Component in the transmission path of incoming event include input equipment, input equipment driving, EventHub, InputReader,
Input Dispatcher, Input Manager and application program.Wherein input equipment and input equipment driving by client computer and
Host is shared, should not change code wherein and do different disposal for host and client computer, the component of selection gets over bottom effect
Rate is higher.It, will because the component in component lower layer where filter in all containers must all be handled incoming event
The component lower in level is arranged in filter, needs the total package count for handling incoming event fewer.From the structure of Fig. 2 input systems
Learn that before upper level applications are given in android system input operation be by WindowsManagerService service centers in figure
Reason, the information which receives come from next layer of EventHub module, it realizes the control of input input equipments driving,
And input action event and signal are therefrom obtained, so selecting EventHub as modification object.EventHub is responsible for from input
Incoming event is read in equipment and carries out packaging to it is then passed to upper layer.Example object is by NativeInputManager
It is created in construction, then the example is delivered to InputReader, is managed by the latter.Input Reader are in its line
The getEvents () of EventHub is called to obtain event in the principal function of journey, the main logic of EventHub is all located at the letter
In number.A self-defined incoming event filter function is added in EventHub：：In getEvents () function, filtering
Concrete operations are that the interface isCurrentContainerInFront () for calling libContainer to provide judges current container
Whether on foreground, if it is event is normally handled, is not, skipped the event and directly handle next event request,
Thus may be implemented host and client computer input it is mutually isolated.
It is as follows to the multiplexing transformation operation of output system：Graphical display flow such as Fig. 3 of android system display module.
Whole flow process can be divided into two steps：It draws and synthesizes.Drawing refers to the process of that each application program draws its view component,
The final result of drawing is that each view of application program all renders the image for needing to draw on corresponding graphic buffer.
Application call drawing API first provides mapping operation, and Surface Flinger call the Alloc modules of Gralloc at this time
A block graphics buffering area is distributed, application program gets what needs were later drawn the shape library for using 2D or 3D by the buffering area
Figure is rendered on this block buffer.Synthesis is then Surface Flinger by each final screen of drawn View synthesis
Show the process of image.After Surface Flinger get the graphic buffer of application program submission, Window can be asked
Manager provides the parameter of the corresponding view in these graphic buffers, and it is final then to calculate each view according to window parameter
Display area on the screen, to be one piece of complete screen display frame by all View synthesis.Each view when synthesis
The state modulator that cutting, scaling, deformation and blanking are provided by Window Manager, building-up process are assisted using hardware.
By the code analysis to android system, taken in SurfaceFlinger wherein display exports relevant code
In business, so a customized outgoing event filter function is added in the code, when Surface Flinger service responses
When, which can judge that current container whether on foreground, is if it is normally handled event, if not then jumping
It crosses the event and directly handles next event request, the multiplexing of host and client screen thus may be implemented.
The transformation carried out to communication system is specific as follows：Fig. 4 is that modified Binder drives framework.In new bogie
In structure, a special file is respectively created in host and client computer to distinguish and indicates different two systems, such as
This document storage mark 1 in host, this document storage in a client identifies 0.When the registration of service and the request of service disappear
When breath passes to Binder drivings, Binder drivings can read the special file in the system, and special identifier is identified to the clothes
In name of being engaged in, it is to come from client computer or host that can thus distinguish the service, whether judges current container later on foreground,
If it is continue to execute downwards, if not then the service is filtered out, do not execute the service.
The dual system of Android phone is just completed after modifying to the above subsystem, is UAV Flight Control system
System deployment on mobile phone provides basic environment.UAV Flight Control System is deployed in Android environment, is needed pair
The startup item of android system is modified, to ensure that android system is winged once starting automatically into and running unmanned plane
Row control system.Fig. 5 is the Booting sequence figure of android system.It can be sent in the start process of android system one wide
Android.intent.action.BOOT_COMPLETED is broadcast, after capturing the signal, changes UAV Flight Control system
The code of system receives this broadcast, then in android system in code with a broadcast recipient
Permission and configuration information are added in androidManifest.xml, can thus add during client machine system starts
UAV Flight Control System is carried, to reach the function of control unmanned plane.In the process because host and client computer are total
With same set of linux kernel, thus changed in androidManifest.xml files with postponing the mistake started in host
Also UAV Flight Control System can be loaded in journey, so with the way of modification communication system, store flag in this document,
When host accesses, automatic shield falls the function, normal to start, and client computer continues to execute when accessing.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, although with reference to aforementioned reality
Applying example, invention is explained in detail, for those skilled in the art, still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features.All essences in the present invention
With within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention god.
Claims (2)
1. a kind of flight control assemblies based on mobile phone, include the transformation to client computer, the transformation to client computer is divided into defeated
Enter the transformation of output and the transformation to communication system, the transformation of the input and output is as follows：In the container of host and client computer
In run the various components of input/output module, container each in this way can read input and output from input-output equipment
Event；Then a filter is added on the transmission path of input and output event, by filter according to the state of current container
Input and output event is filtered, if current container, on foreground, event continues to transmit by filter, otherwise thing
Part will be abandoned.
2. a kind of flight control assemblies based on mobile phone according to claim 1, it is characterised in that：The communication system
Transformation is as follows：Because host and client machine system use the kernel of the same linux, the same Binder is used
Driving.The file of a special identifier is respectively created in client computer and host, it can be according to special when service request
Mark differentiate different systems, and then realize that communication between the two is independent of each other, and can normally carry out.
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| CN201810369180.9A CN108762884A (en) | 2018-04-23 | 2018-04-23 | A kind of flight control assemblies based on mobile phone |
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| CN201810369180.9A CN108762884A (en) | 2018-04-23 | 2018-04-23 | A kind of flight control assemblies based on mobile phone |
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Citations (5)
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| US20140115623A1 (en) * | 2012-10-18 | 2014-04-24 | Broadcom Corporation | Integration of Untrusted Framework Components With a Secure Operating System Environment |
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| CN105259910A (en) * | 2015-11-17 | 2016-01-20 | 滨州学院 | Mobile phone-controlled unmanned flight control system |
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| US20140115623A1 (en) * | 2012-10-18 | 2014-04-24 | Broadcom Corporation | Integration of Untrusted Framework Components With a Secure Operating System Environment |
| CN103593225A (en) * | 2013-10-30 | 2014-02-19 | 浙江大学 | Method for multiplexing Binder IPC mechanism by multiple Android systems in mobile virtualization scene |
| CN103593185A (en) * | 2013-11-04 | 2014-02-19 | 浙江大学 | Single-Linux-inner-core-based method for multiple Android systems to share input equipment and display equipment |
| CN103927227A (en) * | 2014-04-16 | 2014-07-16 | 乐视致新电子科技（天津）有限公司 | Method and device for switching multiple operating systems and smart television |
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