CN113973160A - Image and instruction encryption method and remote unmanned target vehicle - Google Patents
Image and instruction encryption method and remote unmanned target vehicle Download PDFInfo
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- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/32—Circuits or arrangements for control or supervision between transmitter and receiver or between image input and image output device, e.g. between a still-image camera and its memory or between a still-image camera and a printer device
- H04N1/32101—Display, printing, storage or transmission of additional information, e.g. ID code, date and time or title
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
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Abstract
The invention discloses an image and instruction encryption method and a remote unmanned target vehicle, wherein the remote unmanned target vehicle comprises the following steps: the target vehicle comprises a target vehicle body, a camera, an image encryption module, a target vehicle end 4G data transmission module, an instruction decryption module, a monitoring end 4G data transmission module, an image decryption module, a video display module and an instruction encryption module; after the image and instruction encryption method encrypts the image and the instruction, the problems that the traditional image and instruction transmission method is poor in confidentiality or reliability and difficult to resist the adverse environmental influence of target practice training of troops can be solved.
Description
Technical Field
The invention relates to the technical field of encryption transmission, in particular to an image and instruction encryption method and a remote unmanned target vehicle.
Background
The remote unmanned target vehicle is one of important guarantee equipment for modern military training, can control the target vehicle to move in a remote control mode to complete a target distribution task of a target area, and has important significance for shortening the training time of the target practice task and improving the safety of the target practice training. Because the distance from the operation command room is far in the moving process of the remote unmanned target vehicle, an image and instruction encryption transmission technology is needed to control and monitor the motion state and environment of the remote unmanned target vehicle.
Nowadays, the image and instruction information of the remote unmanned target vehicle are generally transmitted in a wireless point-to-point or ad hoc network mode, the confidentiality in the transmission process is better, but due to the influence of the electromagnetic environment noise which is increasingly complicated nowadays, the reliability of the wireless transmission becomes worse and worse, the transmission distance of the signal when the signal is shielded by the terrain may not be even ten percent of the rated value, and the problem is more obvious in the complex terrains such as mountains, hills and the like. The 4G signal is a signal transmission method which is commonly used at present, the reliability of signal transmission is high, and the limitation of terrain and distance is broken through, but the confidentiality of the 4G signal is relatively poor.
There are many information encryption methods today, which are mainly classified into the following two categories: (1) the information is encrypted by adopting a single operator (for example, the information is subjected to specific position transformation or specific mathematical operation processing at a specific position), and the operator is single and fixed, so that the complexity is low, and the method is easy to crack by an attacker; (2) the information is encrypted and decrypted by adopting a feature extraction method, the confidentiality of the method is good, but certain information distortion phenomenon can be caused during decryption, the control of the motion state of a vehicle can be failed due to the distortion of an instruction, and the definition of an image can be reduced due to the distortion of the image.
Therefore, it is an important technical problem to be solved by those skilled in the art to provide an image and instruction encryption method and a remote unmanned drone vehicle suitable for a shooting range environment.
Disclosure of Invention
In view of the above, the invention provides an image and instruction encryption method and a remote unmanned target vehicle, which can solve the problems that the traditional image and instruction transmission method is poor in confidentiality or reliability and is difficult to resist the adverse environmental influence of target practice of troops.
The technical scheme of the invention is as follows: an image encryption method comprising the steps of:
s1: carrying out image graying processing;
s2: generating an image key consisting of an encryption matrix, a position matrix and a group number; wherein, the group number is composed of non-repeated natural numbers starting from 1 and is used as the ID of an encryption matrix and a position matrix in the image key; the values of all position matrixes in all groups are composed of natural numbers which are not repeated and start from 1, and the values are randomly distributed; the values in the encryption matrix are composed of random numbers, the values in the encryption matrix in the same group are not repeated, and the values in the encryption matrix in different groups of numbers are repeated;
s3: sequencing each pixel point in the image information of the image to be encrypted from left to right and from top to bottom, and generating a position index value of a natural number from 1;
s4: generating an encrypted image position matrix;
s5: an encrypted image is generated.
Preferably, when encrypting in S4, firstly encrypting from a place where the index value at the top left corner of the image is 1, secondly selecting a group number of the image key according to a random number, and each group number is selected only once; then selecting a corresponding position matrix according to the corresponding group number; finally, filling the image pixel index value position corresponding to the position matrix into a corresponding group number to generate the position matrix of the encrypted image; wherein the selected random key group number at the pixel index value 1 of the image to be encrypted is 1.
Preferably, in S5, the image gray value matrix at the image index value corresponding to the position matrix is:
the corresponding same group of encryption matrixes are as follows:
the encryption calculation method of the encrypted image comprises the following steps:
wherein k is numerically equal to m; k is a subscript of the image gray value matrix, and is a natural number greater than 1; x is the number ofkThe gray level image pixel value corresponding to the image index value at the k-th position after the same group of position matrix elements are sorted from small to large; x is the number ofk*kThe gray image pixel values corresponding to the image index values at the k-th position after the same group of position matrix elements are sorted from small to large; a ismFor the value of the element in row 1 and column m of the encryption matrix, an*nIs the value of the element in the mth row and mth column of the encryption matrix.
An instruction encryption method comprising the steps of:
s1: generating a message key; wherein, assuming that the length of the instruction message is L, and L >1, the message key is composed of M groups of arrays with the length of 2 × L + 1: the front L bit of the message key is an interference value formed by random numbers, the L +1 bit of the message key is a message group number, and the rear L bit of the message key is an interpolation position value;
s2: inserting the interference values of the same group into the specific position of the instruction message according to the interpolation position value; wherein, X is defined as a position value corresponding to the interference value, X ≠ L, when X < L, the specific position is 2X, and when X > L, the specific position is 2X + 1.
Preferably, in S2, during encryption, each instruction packet first randomly selects a group number of the packet key, and then encrypts the instruction packet according to the interpolation position value and the interference value of the selected group number.
A remote unmanned target vehicle comprising: the target vehicle comprises a target vehicle body, a camera, an image encryption module, a target vehicle end 4G data transmission module, an instruction decryption module, a monitoring end 4G data transmission module, an image decryption module, a video display module and an instruction encryption module;
the target vehicle body is used as a mounting base of the target vehicle end and is used for mounting a camera, an image encryption module, a target vehicle end 4G data transmission module and an instruction decryption module; the monitoring terminal 4G data transmission module, the image decryption module, the video display module and the instruction encryption module are all arranged at the monitoring terminal;
the camera is used for shooting image information of the target vehicle body in the advancing process;
the image encryption module is used for encrypting the image information shot by the camera;
the image decryption module is used for decrypting image information shot by the camera at the unmanned drone vehicle end;
the video display module is used for displaying the image information decrypted by the image decryption module;
the command encryption module is used for encrypting a command which is sent by an operator and used for controlling the motion state of the target vehicle body; wherein, the target vehicle automobile body motion state includes: the target vehicle body moves forwards, backwards and turns;
the instruction decryption module is used for decrypting an instruction for controlling the motion state of the target vehicle body;
the target vehicle end 4G data transmission module and the monitoring end 4G data transmission module both adopt a full-duplex communication mode, and the target vehicle end 4G data transmission module and the monitoring end transmit data communicated between the target vehicle end and the monitoring end through 4G signals; wherein the data comprises: instructions and images.
Preferably, the image encryption module encrypts the image by the aforementioned image encryption method.
Preferably, the instruction encryption module encrypts the instruction by the aforementioned instruction encryption method.
Has the advantages that:
1. the image encryption method of the invention improves the reliability of the image encryption algorithm by introducing the position matrix for encryption on the basis of the encryption matrix, and simultaneously reduces the calculated amount during image decryption by introducing the grouped group number in the image encryption method, and the encryption method of multiple group numbers increases the randomness in the encryption process and improves the encryption performance of the encryption method.
2. The instruction encryption method of the invention can effectively ensure the encryption reliability in the instruction encryption process and the convenience in the decryption process by mutually matching the interference values of different groups of numbers in the message key with the interpolation positions.
3. According to the remote unmanned target vehicle, the instruction encryption module encrypts the instruction according to a preset encryption method, the encrypted instruction is transmitted to the target vehicle end 4G data transmission module through the monitoring end 4G data transmission module, and the instruction decryption module decrypts the encrypted instruction according to the preset decryption method, so that the motion state of a target vehicle body is conveniently controlled;
meanwhile, the camera can shoot image information of the target vehicle body in the advancing process, the shot image information is encrypted through the image encryption module according to a preset image encryption method, the encrypted image is transmitted to the monitoring end 4G data transmission module through the target vehicle end 4G data transmission module, and the image decryption module decrypts the image information according to a preset decryption method and displays the image information to an operator through the video display module; the problem that the traditional unmanned target vehicle is difficult to resist the adverse environment influence of army target practice can be solved.
Drawings
Fig. 1 is a schematic diagram of image encryption in the present invention.
FIG. 2 is a diagram illustrating instruction encryption according to the present invention.
Fig. 3 is a schematic view of a remote unmanned target vehicle according to the present invention.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
Example 1:
the embodiment provides an image encryption method, which can solve the problems that the traditional image transmission method is poor in confidentiality or reliability and difficult to resist the adverse environmental influence of target practice of troops.
The image encryption method comprises the following steps:
step S1: carrying out image graying processing;
processing an RGB image shot by a camera into a gray image;
step S2: generating an image key;
the image key consists of an encryption matrix, a position matrix and a group number; wherein, the group number is composed of natural numbers from 1 to n (more than 1) without repetition, and is used as ID of an encryption matrix and a position matrix in the image key; the values of all the position matrixes in all the groups are composed of unrepeated natural numbers starting from 1, and the values are randomly distributed in the position matrixes in a disordered manner so as to ensure that the pixel gray values of all the positions of the original image are only subjected to encryption calculation once and eliminate redundant calculation in the encryption process; the values in the encryption matrix are composed of random numbers, the values in the encryption matrix in the same group are not repeated, and the values in the encryption matrix in different groups can generate a repeated phenomenon;
step S3: determining an index value of a pixel value of an image to be encrypted;
sequencing each pixel point in the image information of the image to be encrypted from left to right and from top to bottom, and generating a position index value of a natural number from 1;
step S4: generating an encrypted image position matrix;
when in encryption, encryption is carried out according to the sequence of the image index values from small to large, as shown in figure 1, encryption is carried out from the place where the index value at the upper left corner of the image is 1, when in encryption, the group number of the image key is selected according to the random number, each group number can only be selected once, and the selected random key group number at the pixel index value 1 of the image to be encrypted is 1; then selecting a corresponding position matrix according to the corresponding group number; finally, filling the image pixel index value position corresponding to the position matrix into the corresponding group number to generate the position matrix of the encrypted image;
step S5: generating an encrypted image;
firstly, setting an image gray value matrix at an image index number corresponding to a position matrix as follows:
the same set of encryption matrices corresponding thereto is as follows:
the encryption calculation method of the encrypted image comprises the following steps:
wherein k is numerically equal to m; k is a subscript of the image gray value matrix, and is a natural number greater than 1; x is the number ofkThe gray level image pixel value corresponding to the image index value at the k-th position after the same group of position matrix elements are sorted from small to large; x is the number ofk*kThe gray image pixel values corresponding to the image index values at the k-th position after the same group of position matrix elements are sorted from small to large; a ismFor the value of the element in row 1 and column m of the encryption matrix, an*nIs the value of the element in the mth row and mth column of the encryption matrix.
In this embodiment, the encrypted image is transmitted through 4G data transmission.
In this embodiment, when the encrypted image needs to be decrypted, the image is decrypted according to the sequence of the image index values from small to large; in this embodiment, a decryption method for image pixel values with an index value of 1 and an encryption matrix size of 2 × 2 is described as follows: firstly, determining a pixel point index value with the same key group number as the index value 1 according to the position matrix; secondly, determining an encryption matrix of the image key according to the key group number; assuming that the pixel values of the pixel points with the same key group number are unknown numbers, the unknown numbers of the pixel points, the encryption matrix and the pixel values of the encrypted pixel points can form an equation group with a unique solution, and the pixel values of the pixel points can be obtained by decoding the equation; during decryption, if the pixel value of the index number has already been decrypted, it will not participate in the decryption process of the pixel.
Example 2:
the embodiment provides an instruction encryption method, which can solve the problems that the traditional instruction transmission method is poor in confidentiality or reliability and difficult to resist the adverse environmental influence of target practice of troops.
The instruction encryption method comprises the following steps:
step S1: generating a message key:
assuming that the length of the command message is L, the message key is composed of M sets of arrays with a length of 2 × L +1 (as shown in fig. 2, in this embodiment, L is 5): the first L bit of the message key is an interference value formed by random numbers, the L +1 bit of the message key is a message group number (the group number of each group of messages is unique and is not repeated), and the last L bit of the message key is an interpolation position value;
step S2: encrypting the instruction message:
during encryption, each instruction message firstly randomly selects the group number of the message key, and then the encryption work of the instruction message is carried out according to the interpolation position value and the interference value of the selected group number;
during encryption, inserting the interference values of the same group into a specific position of the instruction message according to the interpolation position value (X is defined as a position value corresponding to the interference value, X is not equal to L, when X is less than L, the specific position is 2X, and when X is greater than L, the specific position is 2X + 1); and the group number of the encrypted instruction message is a specific bit.
In this embodiment, the encrypted command packet performs data transmission through 4G data transmission.
In this embodiment, when the encrypted instruction packet needs to be decrypted, the key required for decryption is determined according to the group number of the specific bit, then the interference value inserted in the second step is removed from the encrypted instruction packet according to the interpolation position value, and the decrypted instruction packet can be obtained after the interference value is taken out.
Example 3:
the present embodiment provides a remote unmanned target vehicle, as shown in fig. 3, including: unmanned target vehicle and remote monitering system, wherein, unmanned target vehicle includes: the target vehicle comprises a target vehicle body, a camera, an image encryption module, a target vehicle end 4G data transmission module and an instruction decryption module; the remote monitoring system includes: the monitoring terminal 4G data transmission module, the image decryption module, the video display module and the instruction encryption module;
the target vehicle body is used as an installation base and is used for installing a camera, an image encryption module, a target vehicle end 4G data transmission module and an instruction decryption module;
the camera is used for shooting image information of the target vehicle body in the advancing process;
the image encryption module is used for encrypting the image information shot by the camera; the image encryption module encrypts the image by adopting the image encryption method in the embodiment 1;
the target vehicle end 4G data transmission module is matched with the monitoring end 4G data transmission module in a full-duplex communication mode, and data communicated between the unmanned target vehicle and a remote monitoring system can be transmitted through 4G signals; wherein the data comprises: instructions and images;
the instruction decryption module is used for decrypting an instruction for controlling the motion state of the target vehicle body (including the forward movement, the backward movement and the steering of the target vehicle body);
the image decryption module is used for decrypting image information shot by the camera at the unmanned drone vehicle end;
the video display module is used for displaying the image information decrypted by the image decryption module;
the command encryption module is used for encrypting commands sent by an operator for controlling the motion state of a target vehicle body (including the forward movement, the backward movement and the steering of the target vehicle); the instruction encryption module encrypts the instruction by using the instruction encryption method in embodiment 2.
When the target vehicle is used, before each shooting, an operator sends out an instruction for controlling the motion state of the target vehicle body according to a set requirement, the instruction encryption module encrypts the instruction according to the encryption method in the embodiment 2, the encrypted instruction is transmitted to the 4G data transmission module of the target vehicle end through the 4G data transmission module of the monitoring end, and the instruction decryption module decrypts the encrypted instruction according to a preset decryption method so as to control the motion state of the target vehicle body;
meanwhile, the camera shoots image information of the target vehicle body in the advancing process, the shot image information is encrypted through the image encryption module according to the image encryption method in the embodiment 1, the encrypted image is transmitted to the monitoring end 4G data transmission module through the target vehicle end 4G data transmission module, the image decryption module decrypts the image information according to a preset decryption method and presents the image information to an operator through the video display module for the operator to refer to, and the operator can conveniently send a control instruction.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. An image encryption method, comprising the steps of:
s1: carrying out image graying processing;
s2: generating an image key consisting of an encryption matrix, a position matrix and a group number; wherein, the group number is composed of non-repeated natural numbers starting from 1 and is used as the ID of an encryption matrix and a position matrix in the image key; the values of all position matrixes in all groups are composed of natural numbers which are not repeated and start from 1, and the values are randomly distributed; the values in the encryption matrix are composed of random numbers, the values in the encryption matrix in the same group are not repeated, and the values in the encryption matrix in different groups of numbers are repeated;
s3: sequencing each pixel point in the image information of the image to be encrypted from left to right and from top to bottom, and generating a position index value of a natural number from 1;
s4: generating an encrypted image position matrix;
s5: an encrypted image is generated.
2. The image encryption method according to claim 1, wherein in the encryption in S4, firstly, encryption is performed from a place where the index value of the upper left corner of the image is 1, secondly, the group number of the image key is selected based on a random number, and each group number is selected only once; then selecting a corresponding position matrix according to the corresponding group number; finally, filling the image pixel index value position corresponding to the position matrix into a corresponding group number to generate the position matrix of the encrypted image; wherein the selected random key group number at the pixel index value 1 of the image to be encrypted is 1.
3. The image encryption method according to claim 1 or 2, wherein in S5, the image gray value matrix at the image index value corresponding to the position matrix is defined as:
the corresponding same group of encryption matrixes are as follows:
the encryption calculation method of the encrypted image comprises the following steps:
wherein k is numerically equal to m; k is a subscript of the image gray value matrix, and is a natural number greater than 1; x is the number ofkThe gray level image pixel value corresponding to the image index value at the k-th position after the same group of position matrix elements are sorted from small to large; x is the number ofk*kThe gray image pixel values corresponding to the image index values at the k-th position after the same group of position matrix elements are sorted from small to large; a ismFor the value of the element in row 1 and column m of the encryption matrix, an*nIs the value of the element in the mth row and mth column of the encryption matrix.
4. An instruction encryption method, comprising the steps of:
s1: generating a message key; wherein, assuming that the length of the instruction message is L, and L >1, the message key is composed of M groups of arrays with the length of 2 × L + 1: the front L bit of the message key is an interference value formed by random numbers, the L +1 bit of the message key is a message group number, and the rear L bit of the message key is an interpolation position value;
s2: inserting the interference values of the same group into the specific position of the instruction message according to the interpolation position value; wherein, X is defined as a position value corresponding to the interference value, X ≠ L, when X < L, the specific position is 2X, and when X > L, the specific position is 2X + 1.
5. The image encryption method according to claim 4, wherein in the step S2, during encryption, each instruction message is encrypted by first randomly selecting the group number of the message key, and then encrypting the instruction message according to the interpolation position value and the interference value of the selected group number.
6. A remote unmanned target vehicle, comprising: the target vehicle comprises a target vehicle body, a camera, an image encryption module, a target vehicle end 4G data transmission module, an instruction decryption module, a monitoring end 4G data transmission module, an image decryption module, a video display module and an instruction encryption module;
the target vehicle body is used as a mounting base of the target vehicle end and is used for mounting a camera, an image encryption module, a target vehicle end 4G data transmission module and an instruction decryption module; the monitoring terminal 4G data transmission module, the image decryption module, the video display module and the instruction encryption module are all arranged at the monitoring terminal;
the camera is used for shooting image information of the target vehicle body in the advancing process;
the image encryption module is used for encrypting the image information shot by the camera;
the image decryption module is used for decrypting image information shot by the camera at the unmanned drone vehicle end;
the video display module is used for displaying the image information decrypted by the image decryption module;
the command encryption module is used for encrypting a command which is sent by an operator and used for controlling the motion state of the target vehicle body; wherein, the target vehicle automobile body motion state includes: the target vehicle body moves forwards, backwards and turns;
the instruction decryption module is used for decrypting an instruction for controlling the motion state of the target vehicle body;
the target vehicle end 4G data transmission module and the monitoring end 4G data transmission module both adopt a full-duplex communication mode, and the target vehicle end 4G data transmission module and the monitoring end transmit data communicated between the target vehicle end and the monitoring end through 4G signals; wherein the data comprises: instructions and images.
7. The remote drone vehicle of claim 6, wherein the image encryption module encrypts the image using the image encryption method of claim 1.
8. The remote drone vehicle of claim 6, wherein the command encryption module encrypts the command using the command encryption method of claim 4.
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