CN111884817B - Method for realizing distributed unmanned aerial vehicle cluster network secure communication - Google Patents
Method for realizing distributed unmanned aerial vehicle cluster network secure communication Download PDFInfo
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- CN111884817B CN111884817B CN202010831944.9A CN202010831944A CN111884817B CN 111884817 B CN111884817 B CN 111884817B CN 202010831944 A CN202010831944 A CN 202010831944A CN 111884817 B CN111884817 B CN 111884817B
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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
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3236—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using cryptographic hash functions
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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
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3271—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using challenge-response
- H04L9/3273—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using challenge-response for mutual authentication
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
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Abstract
The invention relates to the technical field of unmanned aerial vehicle cluster communication, and discloses a method for realizing distributed unmanned aerial vehicle cluster network safety communication, which is characterized in that each cooperative unmanned aerial vehicle in a distributed unmanned aerial vehicle cluster makes a decision autonomously, the information flux is small, the maneuverability is high, each cooperative unmanned aerial vehicle establishes communication with other cooperative unmanned aerial vehicles after being authenticated by an authentication mechanism, other cooperative unmanned aerial vehicles send action tasks or formation aggregation requests, if half or more than half of received tasks are replied, the action requests are approved, the cooperative unmanned aerial vehicles which do not participate in the decision making and do not receive the action requests are used as learners, the unified task requests or formation aggregation requests are learned from any cooperative unmanned aerial vehicle which receives the action requests, all cooperative unmanned aerial vehicles in the unmanned aerial vehicle cluster execute target tasks, the consistency of the unmanned aerial vehicle cluster is ensured, and the safety communication among the unmanned aerial vehicles can be ensured at the same time, effectively preventing hackers from invading the unmanned aerial vehicle cluster to change the target task of the unmanned aerial vehicle cluster.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle cluster communication, in particular to a method for realizing distributed unmanned aerial vehicle cluster network secure communication.
Background
The unmanned aerial vehicle cluster plays more and more important roles in the civil field and military strategy, and can complete various tasks including fire monitoring, search and rescue, investigation and tracking, execution and extinguishment and the like. The multi-unmanned aerial vehicle cluster flight environment under the informatization condition has the characteristics of high dynamic property, uncertainty of depth and the like, and in order to complete the target of a task, the formation needs to be formed again sometimes to carry out task planning.
Each unmanned aerial vehicle in the distributed unmanned aerial vehicle cluster has certain autonomous ability and intelligence level, has independent calculation, analysis and decision-making ability, and can enable the multiple unmanned aerial vehicles to cooperate in task and give full play to the advantages of the multiple unmanned aerial vehicles through data sharing, and the distributed control decision-making mode of the unmanned aerial vehicle cluster is more beneficial to exchange and share mass decision-making information in an uncertain environment. The distributed unmanned aerial vehicle cluster is a decentralized, globally identical, layered and locally centralized structure of all collaborators, the structure improves coordination efficiency, and real-time performance, dynamic performance and fault tolerance of the unmanned aerial vehicle cluster are not affected.
In a distributed unmanned aerial vehicle cluster, in order to ensure effective execution of action tasks, the unmanned aerial vehicle cluster is required to maintain consistency; however, in the process of executing tasks by the unmanned aerial vehicle cluster, some unmanned aerial vehicles are often easily invaded and interfered by hackers, and information transmission is inaccurate, so that action tasks cannot be completed.
Disclosure of Invention
Based on the above problems, the invention provides a method for realizing network security communication of a distributed unmanned aerial vehicle cluster, which is characterized in that each cooperative unmanned aerial vehicle in the distributed unmanned aerial vehicle cluster makes a decision autonomously, the information flux is small, the maneuverability is high, each cooperative unmanned aerial vehicle establishes communication with other cooperative unmanned aerial vehicles after being authenticated by an authentication mechanism, other cooperative unmanned aerial vehicles send action tasks or formation aggregation requests, the action requests are approved when half or more responses of received tasks are obtained, cooperative unmanned aerial vehicles which do not participate in the decision and do not receive the action requests are used as learners, the task requests or formation aggregation requests which are consistent are learned from the cooperative unmanned aerial vehicles which receive the action requests, all cooperative unmanned aerial vehicles in the unmanned aerial vehicle cluster execute target tasks, the consistency of the unmanned aerial vehicle cluster is ensured, and meanwhile, the security communication among the unmanned aerial vehicles can be ensured, effectively preventing hackers from invading the unmanned aerial vehicle cluster to change the target task of the unmanned aerial vehicle cluster.
In order to solve the technical problems, the invention adopts the technical scheme that:
a distributed unmanned aerial vehicle cluster network security communication implementation method, unmanned aerial vehicle cluster include utilize sensor perception environmental information of oneself and cooperative unmanned aerial vehicle of decision-making independently, the ground base station sends the target task to the unmanned aerial vehicle cluster, after single unmanned aerial vehicle N finds the task target, send action request or formation and gather the request to other cooperative unmanned aerial vehicles in the cluster, other cooperative unmanned aerial vehicle decide to connect the request independently, the concrete process includes the following steps:
a1, the unmanned aerial vehicle N sends an action request or a formation aggregation request, and other cooperative unmanned aerial vehicles participate in decision making after receiving the request and respond to the request of the unmanned aerial vehicle N;
a2, unmanned aerial vehicle N receives reply information of other cooperative unmanned aerial vehicles, if half or more replies of accepting tasks are obtained, the request is approved, at the moment, cooperative unmanned aerial vehicles which do not participate in decision making and do not accept action requests are used as learners, any cooperative unmanned aerial vehicle accepting the action requests learns to reach a consistent task request or a formation aggregation request, and all cooperative unmanned aerial vehicles in the unmanned aerial vehicle cluster form and execute a target task; otherwise, action or formation aggregation is cancelled, and each cooperative unmanned aerial vehicle autonomously flies according to the target task of the ground station;
each cooperative unmanned aerial vehicle is provided with an authentication server, a user name database of all unmanned aerial vehicles in the unmanned aerial vehicle cluster is built in the authentication server, and the authentication server is used for sending an identity authentication request to an authentication server of the other unmanned aerial vehicle in the information transfer process between the two unmanned aerial vehicles; the specific authentication mechanism comprises the following steps:
b1, before the unmanned aerial vehicle N needs to send information to the unmanned aerial vehicle M, the unmanned aerial vehicle N sends an authentication request to the unmanned aerial vehicle M to request identity authentication, an authentication server of the unmanned aerial vehicle M inquires whether a user of the unmanned aerial vehicle N is a legal user from a user name database, and if not, no processing is performed; if so, generating a random number inside the authentication server, and sending the random number to the unmanned aerial vehicle N;
b2, unmanned aerial vehicle N combines the user name and the random number, and generates a byte string as a response by using a one-way Hash function; the authentication server of the unmanned aerial vehicle M compares the response string with the result calculated by the Hash function, if the response string is the same as the result calculated by the Hash function, the unmanned aerial vehicle N establishes communication connection with the unmanned aerial vehicle M through one-time authentication; otherwise, the authentication fails; after the communication connection is established, the unmanned aerial vehicle N sends communication information to the unmanned aerial vehicle M.
Further, the authentication server of the cooperative drone is also internally provided with a user name database of the ground base station, and before the ground base station establishes a communication connection with the cooperative drone, identity authentication needs to be performed according to the authentication mechanisms in steps B1 and B2.
Furthermore, each cooperative unmanned aerial vehicle is also provided with a state monitor, and the state detectors are used for monitoring the flight attitude of the unmanned aerial vehicle, including speed, position and acceleration; in the flight process of the unmanned aerial vehicle cluster, the state monitor of a single unmanned aerial vehicle transmits monitoring data to a ground base station for establishing communication connection in real time, and the ground base station records signals transmitted by the state detector and corrects task target information of the unmanned aerial vehicle cluster in real time, so that the unmanned aerial vehicle cluster can accurately complete action tasks.
Compared with the prior art, the invention has the beneficial effects that: according to the unmanned aerial vehicle cluster autonomous decision-making method, each cooperative unmanned aerial vehicle in the distributed unmanned aerial vehicle cluster autonomously decides, the information flux is small, the maneuverability is high, communication is established between each cooperative unmanned aerial vehicle and other cooperative unmanned aerial vehicles after authentication is carried out through an authentication mechanism, action tasks or formation aggregation requests are sent to other cooperative unmanned aerial vehicles, if half or more of responses of receiving tasks are obtained, the action requests are approved, cooperative unmanned aerial vehicles which do not participate in decision-making and do not receive the action requests serve as learners, the cooperative unmanned aerial vehicles which receive the action requests learn to reach a consistent task request or formation aggregation request, all cooperative unmanned aerial vehicles in the unmanned aerial vehicle cluster execute target tasks in a formation mode, the consistency of the unmanned aerial vehicle cluster is guaranteed, meanwhile, the safety communication between the unmanned aerial vehicles can be guaranteed, and hacker unmanned aerial vehicles are effectively prevented from invading the unmanned aerial vehicle cluster to change the target tasks of the unmanned aerial vehicle cluster.
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Fig. 1 is a flowchart of an implementation method of secure communication in a distributed unmanned aerial vehicle cluster network in an embodiment;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example (b):
referring to fig. 1, a method for implementing network security communication of a distributed unmanned aerial vehicle cluster, the unmanned aerial vehicle cluster comprises a plurality of cooperative unmanned aerial vehicles which sense environmental information by using self sensors and make autonomous decisions, a ground base station sends a target task to the unmanned aerial vehicle cluster,
each cooperative unmanned aerial vehicle is provided with an authentication server, a user name database of all unmanned aerial vehicles in the unmanned aerial vehicle cluster is built in the authentication server, and the authentication server is used for sending an identity authentication request to an authentication server of the other unmanned aerial vehicle in the information transfer process between the two unmanned aerial vehicles; the specific authentication mechanism comprises the following steps:
b1, before the unmanned aerial vehicle N needs to send information to the unmanned aerial vehicle M, the unmanned aerial vehicle N sends an authentication request to the unmanned aerial vehicle M to request identity authentication, an authentication server of the unmanned aerial vehicle M inquires whether a user of the unmanned aerial vehicle N is a legal user from a user name database, and if not, no processing is performed; if so, generating a random number inside the authentication server, and sending the random number to the unmanned aerial vehicle N;
b2, unmanned aerial vehicle N combines the user name and the random number, and generates a byte string as a response by using a one-way Hash function; the authentication server of the unmanned aerial vehicle M compares the response string with the result calculated by the Hash function, if the response string is the same as the result calculated by the Hash function, the unmanned aerial vehicle N establishes communication connection with the unmanned aerial vehicle M through one-time authentication; otherwise, the authentication fails; after the communication connection is established, the unmanned aerial vehicle N sends communication information to the unmanned aerial vehicle M;
after a single unmanned aerial vehicle N finds a task target, the single unmanned aerial vehicle N carries out identity authentication with each other cooperative unmanned aerial vehicle through an authentication mechanism and establishes communication connection, then an action request or a formation aggregation request is sent to other cooperative unmanned aerial vehicles in a cluster, and the other cooperative unmanned aerial vehicles autonomously decide whether to receive the request, wherein the specific process comprises the following steps:
a1, the unmanned aerial vehicle N sends an action request or a formation aggregation request, and other cooperative unmanned aerial vehicles participate in decision making after receiving the request and respond to the request of the unmanned aerial vehicle N;
a2, unmanned aerial vehicle N receives reply information of other cooperative unmanned aerial vehicles, if half or more replies of accepting tasks are obtained, the request is approved, at this moment, cooperative unmanned aerial vehicles which do not participate in decision making and do not accept action requests are used as learners, task requests or formation aggregation requests which are consistent are learned from any cooperative unmanned aerial vehicle accepting action requests, and all cooperative unmanned aerial vehicles in the unmanned aerial vehicle cluster form target tasks; otherwise, the action or formation aggregation is cancelled, and each cooperative unmanned aerial vehicle autonomously flies according to the target task of the ground station and waits for the next action request or formation request. In this embodiment, when the unmanned aerial vehicle as the learner learns the task target information or the formation information of other cooperative unmanned aerial vehicles, the identity authentication is performed through the authentication mechanisms of steps B1 and B2, so as to prevent the learning unmanned aerial vehicle from being invaded and stealing the task target information.
In this embodiment, the drone that finds the target automatically becomes the piloting drone, establishes communication with other cooperative drones after being authenticated by the authentication mechanism, sends an action task or formation aggregation request to other cooperative drones, obtains a reply of receiving a task of half or more, and then the action request is approved, and the cooperative drones that do not participate in the decision making and do not receive the action request are used as learners, learn to reach a consistent task request or formation aggregation request from any cooperative drone that receives the action request, and all cooperative drones in the drone cluster form the target task, so as to ensure the consistency of the drone cluster, and simultaneously ensure the secure communication between the individual drones, thereby effectively preventing hackers from invading the drone cluster to change the target task of the drone cluster.
The authentication server of the cooperative unmanned aerial vehicle is also internally provided with a user name database of the ground base station, and before the ground base station establishes communication connection with the cooperative unmanned aerial vehicle, identity authentication is required to be carried out according to an authentication mechanism: before the ground base station needs to send information to the unmanned aerial vehicle cluster, the ground base station sends an authentication request to each cooperative unmanned aerial vehicle to require identity authentication, an authentication server of each cooperative unmanned aerial vehicle inquires whether a ground base station user is a legal user from a user name database, and if not, no processing is performed; if yes, a random number is generated inside the authentication server and sent to the ground base station; the ground base station combines the user name and the random number, and generates a byte string as a response by using a one-way Hash function; the authentication server of each cooperative unmanned aerial vehicle compares the response string with the result calculated by the Hash function, if the response string is the same as the result calculated by the Hash function, the ground base station establishes communication connection with each cooperative unmanned aerial vehicle respectively through one-time authentication; otherwise, authentication fails; and after the communication connection is established, the ground base station sends task target information to each cooperative unmanned aerial vehicle. Prevent that pseudo-ground basic station from controlling unmanned aerial vehicle.
Each cooperative unmanned aerial vehicle is also provided with a state monitor, and the state monitors are used for monitoring the flight attitude of the unmanned aerial vehicle and comprise speed, position and acceleration; in the flight process of the unmanned aerial vehicle cluster, the state monitor of a single unmanned aerial vehicle transmits monitoring data to a ground base station for establishing communication connection in real time, and the ground base station records signals transmitted by the state detector and corrects task target information of the unmanned aerial vehicle cluster in real time, so that the unmanned aerial vehicle cluster can accurately complete action tasks. In this implementation, after a single unmanned aerial vehicle finds the target and becomes the piloting unmanned aerial vehicle, the ground base station only needs to establish communication with the piloting unmanned aerial vehicle through the authentication mechanism, directly revises the target task information of the piloting unmanned aerial vehicle, can control the whole action of the unmanned aerial vehicle cluster, reduces the information transmission quantity, and reduces the unmanned aerial vehicle cluster information processing quantity.
The above is an embodiment of the present invention. The embodiments and specific parameters in the embodiments are only for the purpose of clearly illustrating the verification process of the invention and are not intended to limit the scope of the invention, which is defined by the claims, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be covered by the scope of the present invention.
Claims (3)
1. A distributed unmanned aerial vehicle cluster network security communication implementation method, the unmanned aerial vehicle cluster includes a plurality of collaborative unmanned aerial vehicles which utilize self sensors to sense environmental information and make decisions independently, the ground base station sends target tasks to the unmanned aerial vehicle cluster, characterized in that, after a single unmanned aerial vehicle N finds a task target, it sends an action request or a formation aggregation request to other collaborative unmanned aerial vehicles in the cluster, and other collaborative unmanned aerial vehicles make decisions independently whether to receive the request, the specific process includes the following steps:
a1, the unmanned aerial vehicle N sends an action request or a formation aggregation request, and other cooperative unmanned aerial vehicles participate in decision making after receiving the request and respond to the request of the unmanned aerial vehicle N;
a2, unmanned aerial vehicle N receives reply information of other cooperative unmanned aerial vehicles, if half or more replies of accepting tasks are obtained, the request is approved, at this moment, cooperative unmanned aerial vehicles which do not participate in decision making and do not accept action requests are used as learners, task requests or formation aggregation requests which are consistent are learned from any cooperative unmanned aerial vehicle accepting action requests, and all cooperative unmanned aerial vehicles in the unmanned aerial vehicle cluster form target tasks; otherwise, action or formation aggregation is cancelled, and each cooperative unmanned aerial vehicle autonomously flies according to the target task of the ground station;
each cooperative unmanned aerial vehicle is provided with an authentication server, the authentication server is internally provided with a user name database of all unmanned aerial vehicles in the unmanned aerial vehicle cluster and is used for sending an identity authentication request to an authentication server of the opposite side in the process of information transmission between the two unmanned aerial vehicles; the specific authentication mechanism comprises the following steps:
b1, before the unmanned aerial vehicle N needs to send information to the unmanned aerial vehicle M, the unmanned aerial vehicle N sends an authentication request to the unmanned aerial vehicle M to request identity authentication, an authentication server of the unmanned aerial vehicle M inquires whether a user of the unmanned aerial vehicle N is a legal user from a user name database, and if not, no processing is performed; if yes, a random number is generated inside the authentication server and sent to the unmanned aerial vehicle N;
b2, unmanned aerial vehicle N combines the user name and the random number, and generates a byte string as a response by using a one-way Hash function; the authentication server of the unmanned aerial vehicle M compares the response string with the result calculated by the Hash function, if the response string is the same as the result calculated by the Hash function, the unmanned aerial vehicle N establishes communication connection with the unmanned aerial vehicle M through one-time authentication; otherwise, authentication fails; after the communication connection is established, the unmanned aerial vehicle N sends communication information to the unmanned aerial vehicle M.
2. The method of claim 1, wherein the method comprises: the authentication server of the cooperative unmanned aerial vehicle is also internally provided with a user name database of the ground base station, and before the ground base station establishes communication connection with the cooperative unmanned aerial vehicle, identity authentication is required to be performed according to the authentication mechanisms in the steps B1 and B2.
3. The method of claim 2, wherein the method comprises: each cooperative unmanned aerial vehicle is also provided with a state monitor, and the state monitors are used for monitoring the flight attitude of the unmanned aerial vehicle and comprise speed, position and acceleration; in the flight process of the unmanned aerial vehicle cluster, the state monitor of a single unmanned aerial vehicle transmits monitoring data to a ground base station for establishing communication connection in real time, and the ground base station records signals transmitted by the state detector and corrects task target information of the unmanned aerial vehicle cluster in real time, so that the unmanned aerial vehicle cluster can accurately complete action tasks.
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| CN113485434B (en) * | 2021-07-28 | 2023-03-14 | 成都飞机工业（集团）有限责任公司 | Unmanned aerial vehicle formation aggregation control method |
| CN115225322B (en) * | 2022-06-14 | 2024-02-02 | 西安电子科技大学 | Unmanned intelligent device safety constraint method based on environment side channel information verification |
| CN115421505B (en) * | 2022-11-04 | 2023-03-17 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle cluster system and unmanned aerial vehicle |
| CN116437372B (en) * | 2023-06-13 | 2023-08-29 | 四川腾盾科技有限公司 | Group topology control method for unconstrained random recombination of arbitrary task configuration |
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