CN-122001559-A - Unmanned edge equipment cluster anti-interference cooperative obstacle avoidance system and method based on identity verification and secret interaction

CN122001559ACN 122001559 ACN122001559 ACN 122001559ACN-122001559-A

Abstract

The invention discloses an anti-interference collaborative obstacle avoidance system and method for an unmanned edge device cluster based on identity verification and password interaction, which aim at the problems of high encryption and decryption delay and easiness in attack by a man-in-the-middle in the prior art, and introduce a dynamic structure homomorphic encryption DSHE and a lightweight identity-based encryption mechanism. The system is provided with a lightweight encryption microchip LCMC, a dynamic structure homomorphic encryption DSHE operation unit, an identity management unit and a decision arbitration unit DAU are integrated, a proxy auxiliary square operation protocol realizes ciphertext domain space relative measurement calculation through a pre-calculation lookup table, an identity preprocessor maps an identity mark to an evaluation key and realizes ciphertext identity binding, a hierarchical noise management strategy divides the operation into three layers to implement differential control, a single-node rapid self-breaking mechanism triggers a special decryption accelerator DDA, hardware interruption is generated to directly take over an edge control unit, and end-to-end obstacle avoidance response delay is lower than 3 milliseconds.

Inventors

WEN SIHAN
DONG JUNHUI
QIAN JIAWEI
ZHANG YUHANG
LIN YIHAO
WU LINSHUANG
YU JIA
LUO MINJING

Assignees

文思涵

Dates

Publication Date: 20260508
Application Date: 20260320

Claims (10)

1. An anti-interference collaborative obstacle avoidance system of an unmanned edge device cluster based on identity verification and password interaction is characterized by comprising a lightweight encryption micro-chip LCMC, an integrated dynamic structure homomorphic encryption DSHE operation unit, an identity-based encryption identity management unit, a decision arbitration unit DAU and a special decryption accelerator DDA, wherein the dynamic structure homomorphic encryption DSHE operation unit is configured to execute self-adaptive ciphertext structure generation, ciphertext domain space relative metric calculation and hierarchical noise management, the hierarchical noise management divides obstacle avoidance calculation into an original data layer, a feature extraction layer and a decision layer and implements differentiated noise budget distribution, the original data layer executes noise isolation, the feature extraction layer executes noise pre-allocation, the decision layer executes noise tolerance, the identity-based encryption identity management unit comprises an identity pre-processor, the identity pre-processor is configured to dynamically map the unmanned edge device identity identification as an evaluation key required by the dynamic structure homomorphic encryption DSHE operation, and realize the self-adaptive ciphertext calculation through an identity binding phase, the decision arbitration module is configured to a single-decision threshold value calculation, the decision threshold value is triggered by the aid of the single-threshold calculation, the decision-making module is configured to be a special-level ciphertext calculation, the decision threshold value is triggered by the aid of the decision-making unit, the signal threshold is relatively triggered to the decision-making module, the decision-making module is configured to obtain a signal threshold value, the decision-making and the decision-making module is triggered to the decision-made by the special-making layer, the decision-making module is triggered by the special-made by the decision-making layer, and the decision making layer is triggered by the decision making and the decision-made by the decision making layer, the edge control unit is directly taken over to execute obstacle avoidance maneuver, and the end-to-end response delay is lower than 3 milliseconds.
2. The system of claim 1, wherein the lightweight encrypted micro-core LCMC employs a microprocessor architecture with redundancy check logic, comprising a main execution unit and a redundancy check unit, the main execution unit processes operations and protocol stacks, the redundancy check unit performs core operations through physical or logical isolated mirroring, the system compares outputs through a hardware comparator circuit, and detecting an inconsistency immediately triggers a safe shutdown protocol.
3. The system of claim 1, wherein the identity preprocessor comprises an identity mapper configured to perform a one-way encryption mapping algorithm to map the identity into an identity master key and an identity auxiliary key, a key derivation engine configured to derive the evaluation key, a ciphertext header constructor configured to embed the identity auxiliary key into an identity binding domain of the ciphertext structure and calculate a data integrity check code, and a parameter adapter configured to dynamically select a set of encryption parameters according to cluster size, obstacle density, and channel quality.
4. The system of claim 1, wherein the proxy assisted squaring protocol module comprises a request node to perform a cryptographic blinding operation to generate a blinded ciphertext, a calculation proxy node to verify identity token validity, load a pre-calculation look-up table, perform a cryptographic algebra operation, perform a piecewise correction query based on noise estimation, and a request node to perform a blinding operation to obtain a squared result ciphertext.
5. The system of claim 1, wherein the hierarchical noise management strategy is configured to allocate an independent noise budget pool for each coordinate component at the raw data layer and trigger local refreshing when consumption exceeds a preset threshold, to pre-allocate differentiated noise budgets for different distance intervals based on historical data statistics at the feature extraction layer, and to achieve single-bit comparison result output through polarity feature extraction at the decision-making layer, where the tolerant noise budgets approach exhaustion state.
6. The system of claim 1, wherein the decision arbitration unit DAU in the single-node fast self-breaking mechanism comprises a collision risk flag register, an interrupt trigger state machine configured as a multi-state hardware-level finite state machine that sequentially performs wait-to-trigger, single-cycle hardware verification, and signal driving stages to drive a hardware interrupt signal when the verification passes and the collision risk flag is valid.
7. The system of claim 1, wherein the dedicated decryption accelerator DDA is implemented as a hardware state machine, employing a multi-stage cryptographic operation hardware pipeline architecture, whose core decryption data path is free of software programmable instruction cycle overhead, ensuring decryption with sub-millisecond hardware deterministic delays.
8. The system of claim 1, wherein the hardware interrupt signal has a highest interrupt priority and is routed directly to an emergency interrupt input of an edge control unit, wherein the edge control unit is configured to execute an obstacle avoidance interrupt service routine, read an obstacle avoidance parameter provided by a shared memory map, query a very simple obstacle avoidance policy table to obtain a motor control command word, and output to an actuator in a next underlying driver control cycle.
9. The system of claim 1, further comprising a dedicated security monitor circuit independent of the lightweight encrypted micro-core LCMC and the edge control unit, the dedicated security monitor circuit comprising an independent clock source, a hardware timing trigger that automatically loads an initial value upon triggering of a hardware interrupt signal, and a physical level cut-off driver that immediately cuts off actuator power and triggers a physical security release if no heartbeat signal from the edge control unit is received within a timeout threshold.
10. An anti-interference collaborative obstacle avoidance method for an unmanned edge device cluster based on the system of any one of claims 1 to 9 is characterized by comprising the steps of system initialization and identity registration, dynamic structure homomorphic encryption DSHE parameter configuration, ciphertext position broadcasting and receiving, ciphertext domain distance calculation, single node speed self-determination, and forward security updating and identity revocation.

Description

Unmanned edge equipment cluster anti-interference cooperative obstacle avoidance system and method based on identity verification and secret interaction Technical Field The invention relates to the technical field of unmanned edge equipment cooperative control and information security intersection, in particular to an unmanned edge equipment cluster anti-interference cooperative obstacle avoidance system and method based on dynamic structure homomorphic encryption DSHE and a lightweight identity-based encryption mechanism. Background 1. State of the art The unmanned edge equipment cluster collaborative obstacle avoidance technology is a technical system for realizing global mutual position sensing and conflict resolution through high-frequency and continuous position information interaction when a plurality of devices execute high-density operation tasks in a shared physical space. In such high frequency interaction scenarios, the real-time three-dimensional coordinates, velocity vectors, and maneuver attempt of each node are all highly sensitive data assets. Once the device is eavesdropped or tampered, the device not only can cause the position privacy disclosure, but also can directly cause the cluster to cooperate with the logical crash and the physical collision. Therefore, the introduction of high-strength encryption mechanisms and identity authentication systems into communication links has become a common technical approach in this field. 2. Prior art solutions and their inherent drawbacks However, prior art attempts to compromise data security and fast obstacle avoidance responses expose an underlying architecture bottleneck that is difficult to surmount. In particular, those skilled in the art are faced with the following three technical barriers in long-term engineering practice: 2.1 Traditional dense state computational dimension solidification causes severe perceptual hysteresis to protect coordinate privacy, existing schemes typically introduce standard isomorphic encryption algorithms. For example, an issued chinese patent CN111431678B (a multi-unmanned-plane privacy protection cooperative formation method based on homomorphic encryption) discloses a scheme of introducing a standard BGV homomorphic encryption algorithm in unmanned plane position interaction, and calculating the distance between nodes without decryption by using homomorphic characteristics. This scheme, while mathematically guaranteeing data confidentiality, does not overcome the computational overhead inherent in homomorphic encryption. Standard algorithms rely on fixed high-dimensional polynomial ring operations with extremely high ciphertext expansion rates. On unmanned edge devices with limited computational power and power consumption, performing a single-pass dense distance metric often requires several hundred milliseconds (> 500 ms) or even more than a second of clock cycles. In a cluster high-speed maneuver scenario (e.g., flying at a relative speed of 10 m/s), such computing stuck caused by computing force overdrawing would directly result in a physical space deviation of several meters, so that the preset crash-safe distance of the system is instantaneously broken down. 2.2 The existing authentication architecture has weak anti-hijacking capability and aggravates delay in cluster identity authentication, and the existing architecture extremely relies on the traditional Public Key Infrastructure (PKI) and application layer digital certificate handshake protocol. Taking the example of the issued U.S. patent US11201665B2（Method to integrate blockchain and geographic information in distributed communication）, the patent discusses in detail the coordinated collision avoidance mechanism of an unmanned system in a complex space domain, and introduces standard data encryption and distributed identity-based authentication at the communication control layer. However, a fatal disadvantage of such architectures is that authentication and secret data computation must be performed serially in stages. The complex handshake flow not only aggravates the delay accumulation of the end-to-end response, but also is more critical that the technology does not realize the implicit binding of the cipher text load and the physical identity of the sending node on the underlying cryptographic structure. Under a severe electromagnetic environment, an attacker is very easy to implement man-in-the-middle attack through traffic sniffing and session hijacking, falsify legal identity broadcast false coordinates, and lead to the falsification of bottom sensor data. 2.3 The existing cluster anti-collision decision mechanism of the limit of the physical response of the software routing stack and the network consensus constraint is generally highly dependent on a cloud edge cooperative architecture or a multi-node consensus mechanism. For example, the issued chinese patent CN109842135B (an unmanned aerial vehicle group collision avoidance system based o