CN-121386871-B - Unmanned aerial vehicle flight control and data transmission integrated safety protection system

CN121386871BCN 121386871 BCN121386871 BCN 121386871BCN-121386871-B

Abstract

The invention provides an unmanned aerial vehicle flight control and data transmission integrated safety protection system which comprises an unmanned aerial vehicle terminal and a ground terminal, wherein the unmanned aerial vehicle terminal comprises a safety flight control module, a multilink encryption communication module and an environment sensing module, wherein the safety flight control module is used for controlling the unmanned aerial vehicle to fly and executing a safety flight instruction, the multilink encryption communication module is used for establishing encryption data transmission with the ground terminal through various communication links, and the environment sensing module is used for acquiring flight state, environment state and electromagnetic spectrum state data of the unmanned aerial vehicle. According to the invention, by constructing a dynamic trust evaluation model and combining multidimensional state information such as flight control, data transmission, environment perception and the like, the real-time evaluation of the system safety condition is realized, and the passive protection is changed into active intelligent defense. By dynamically linking and regulating key management, encryption algorithm switching and flight control strategies based on the same real-time trust value, each safety unit in the system realizes cooperative protection, and the overall safety of the unmanned aerial vehicle under a complex countermeasure environment is improved.

Inventors

NING ZHAOYU
ZHANG LU
ZHANG YUANYUAN
FU MENGFEI
QIAN JIDE
ZHANG MENGXIANG

Assignees

中国民用航空飞行学院
洛阳北郊机场有限责任公司

Dates

Publication Date: 20260508
Application Date: 20251029

Claims (9)

1. Unmanned aerial vehicle flight control and data transmission integration safety protection system, a serial communication port, including unmanned aerial vehicle terminal and ground end, unmanned aerial vehicle terminal includes: the safety flight control module is used for controlling the unmanned aerial vehicle to fly and executing a safety flight instruction; the multi-link encryption communication module is used for establishing encryption data transmission with the ground end through a plurality of communication links; The environment sensing module is used for acquiring flight state, environment state and electromagnetic spectrum state data of the unmanned aerial vehicle; The hardware trust module is used for providing hardware-level security storage and password operation and verifying the integrity of the unmanned aerial vehicle terminal system; The ground end comprises: The decryption module is used for decrypting the received unmanned aerial vehicle terminal data and encrypting the control instruction to be sent; The dynamic trust evaluation module is used for receiving and fusing the decrypted unmanned aerial vehicle flight state, environment state and electromagnetic spectrum state data, and calculating to obtain a real-time trust value through an evaluation algorithm model; the key management module is used for managing system keys; The integrated monitoring module is used for monitoring the system state and interacting with a human-computer; The output end of the dynamic trust evaluation module is connected with the control ends of the key management module and the decryption module, and the real-time trust value is used for dynamically triggering a security protection strategy; The dynamic trust evaluation module adopts an evaluation algorithm based on fuzzy logic, the real-time trust value is a continuously quantized numerical value between 0 and 100%, the input variables of the fuzzy logic fusion algorithm comprise frequency spectrum anomaly degree and GPS positioning reliability degree from the environment sensing module, link quality from the multi-link encryption communication module and flight attitude deviation degree from the safety flight control module, a rule base is built in the evaluation algorithm, and the rule base comprises a plurality of preset IF-THEN fuzzy rules for mapping fuzzy sets of the input variables to fuzzy sets of the output variables.
2. The unmanned aerial vehicle flight control and data transmission integrated safety protection system according to claim 1, wherein the links of the multi-link encrypted communication module comprise a radio link, a 4G/5G cellular network link and a satellite communication link, the multi-link encrypted communication module comprises a link management unit, and the link management unit is used for monitoring signal quality, delay and bandwidth of each link in real time and executing a link switching strategy based on the real-time trust value output by the dynamic trust evaluation module.
3. The unmanned aerial vehicle flight control and data transmission integrated safety protection system of claim 1, wherein the safety flight control module comprises a main flight controller, a coprocessor, an inertial measurement unit, and a monitoring timer.
4. The unmanned aerial vehicle flight control and data transmission integrated safety protection system of claim 1, wherein the evaluation algorithm execution step comprises: converting the input variable value into membership grade of the corresponding fuzzy language variable; reasoning is carried out according to the rule base, and the activation intensity of each fuzzy set of the output variable is determined; Converting the fuzzy set of reasoning output into a real-time trust value by adopting a gravity center method; The calculation formula of the output trust value T is as follows: Where N is the number of rules that are activated, α i is the activation strength of the ith rule, and c i is the center value of the ith rule output ambiguity set.
5. The integrated flight control and data transmission safety protection system of claim 1, wherein the flight control strategy instructions comprise at least one of triggering an automatic return, switching to an off-line waypoint tracking mode, performing a preset emergency avoidance maneuver, limiting the speed and altitude of flight.
6. The unmanned aerial vehicle flight control and data transmission integrated safety protection system according to claim 1, wherein the encryption algorithm switching strategy of the decryption module is to dynamically select encryption intensity among AES-128, AES-256 and SM4 national encryption algorithms according to the real-time trust value, and an encryption algorithm strategy table mapped with a real-time trust value interval is preset in the decryption module.
7. The unmanned aerial vehicle flight control and data transmission integrated safety protection system according to claim 1, wherein the hardware trust module is a trusted platform module or an embedded safety element, and the hardware trust module internally stores an identity certificate, an asymmetric encryption private key and a symmetric encryption root key of the unmanned aerial vehicle terminal.
8. The unmanned aerial vehicle flight control and data transmission integrated safety protection system according to claim 1, wherein the environmental awareness module comprises a GNSS receiver, a barometer, an airspeed meter, a vision sensor, a laser radar, an ultrasonic sensor, a millimeter wave radar, and a spectrum analysis unit.
9. The unmanned aerial vehicle flight control and data transmission integrated safety protection system according to claim 1, wherein a man-machine interaction interface of the integrated monitoring module integrates and displays the real-time trust value, each link state and the triggered safety strategy, and provides a port for manually confirming or overruling automatic decision of the system.

Description

Unmanned aerial vehicle flight control and data transmission integrated safety protection system Technical Field The invention relates to the technical field of unmanned aerial vehicle safety protection, in particular to an unmanned aerial vehicle flight control and data transmission integrated safety protection system. Background Unmanned aerial vehicle technology has been widely used in fields such as military reconnaissance, logistics transportation, remote sensing survey and drawing, and its flight safety and data security are the core of guaranteeing task success. The traditional unmanned aerial vehicle safety protection adopts a discrete design, a flight control system is focused on the flight attitude, the route planning and the obstacle avoidance, the data transmission safety depends on an independent encryption communication module, the independent architecture leads to the unmanned aerial vehicle safety strategy differentiation, increasingly complex cooperative attack cannot be dealt with, and a systematic safety short board exists. The prior art attempts to improve security from different levels, but still has limitations. For example, the invention solves the technical problems of insufficient positioning precision, weak anti-interference capability and poor stability of a communication link of an unmanned aerial vehicle in the prior art, and achieves the technical effects of high-precision positioning and anti-interference remote control of the unmanned aerial vehicle in a complex environment through multi-source signal fusion, deception interference, distributed self-adaptive transmission and encryption communication technologies. However, the positioning accuracy and the anti-interference capability are improved through multi-source signal fusion, but the optimization target of the invention does not relate to dynamic evaluation of the overall safety condition and feedback control of a control system, and when the cooperative attack of flight control and data transmission is dealt with, for example, communication is cut off through a wireless voltage system and then GPS spoofing is implemented for hijacking, communication redundancy or link switching can only be passively improved, safety threat can not be solved through active adjustment of a flight strategy, and the protection means is single. Therefore, an unmanned aerial vehicle flight control and data transmission integrated safety protection system is provided. Disclosure of Invention In view of the above, the present invention provides an integrated safety protection system for unmanned aerial vehicle flight control and data transmission, which solves or alleviates one of the technical problems existing in the prior art, and at least provides a beneficial choice. The technical scheme of the embodiment of the invention is realized in such a way that an unmanned aerial vehicle flight control and data transmission integrated safety protection system comprises an unmanned aerial vehicle terminal and a ground terminal, wherein the unmanned aerial vehicle terminal comprises: the safety flight control module is used for controlling the unmanned aerial vehicle to fly and executing a safety flight instruction; the multi-link encryption communication module is used for establishing encryption data transmission with the ground end through a plurality of communication links; The environment sensing module is used for acquiring flight state, environment state and electromagnetic spectrum state data of the unmanned aerial vehicle; The hardware trust module is used for providing hardware-level security storage and password operation and verifying the integrity of the unmanned aerial vehicle terminal system; The ground end comprises: The decryption module is used for decrypting the received unmanned aerial vehicle terminal data and encrypting the control instruction to be sent; The dynamic trust evaluation module is used for receiving and fusing the decrypted unmanned aerial vehicle flight state, environment state and electromagnetic spectrum state data, and calculating to obtain a real-time trust value through an evaluation algorithm model; the key management module is used for managing system keys; The integrated monitoring module is used for monitoring the system state and interacting with a human-computer; the real-time trust value is used for dynamically triggering a key updating strategy of the key management module, an encryption algorithm switching strategy of the decryption module and sending a flight control strategy instruction to the safe flight control module. It is further preferred that the links of the multi-link encryption communication module include a radio link, a 4G/5G cellular network link, and a satellite communication link, and the multi-link encryption communication module further includes a link management unit, configured to monitor signal quality, delay, and bandwidth of each link in real time, and execute a link switching