Autonomous safety test platform for unmanned aerial vehicle systems

Abstract

The present invention provides an autonomous safety test experimental platform for drone systems, which belongs to the field of drone technology and includes: a ground station test module, a mission load module, a flight control navigation test module, a data link test module, a safety test component, and an attack test module. The platform provides a complete and comprehensive test for the autonomous safety of drones. By setting a variety of complex flight missions and emergencies, the autonomous flight capability, perception and avoidance capability, and anti-interference capability of drones are comprehensively evaluated, providing a strong guarantee and reliable evaluation for the autonomous safety of drones, and promoting the development of the drone industry in a safer, smarter, and more reliable direction.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to an autonomous safety testing experimental platform for UAV systems. Background Art

[0002] The UAV autonomous safety test platform is a platform used to evaluate and verify the autonomous behavior and safety performance of UAV systems in various situations. This platform is usually composed of software and hardware, and is designed to simulate various flight situations and potential risks in real environments, and evaluate the responsiveness and safety of UAV systems. By using the UAV autonomous safety test platform, R&D personnel and testers can conduct a comprehensive safety assessment and verification of UAV systems, identify potential safety hazards, and improve system design and algorithms to improve their safety performance. This is essential for the safe operation of UAVs in various application areas, including commercial aerial photography, logistics distribution, military reconnaissance, etc.

[0003] The current drone testing platforms have significant defects. Most existing platforms are often unable to truly simulate the complex environment and changing conditions of drones in actual operation during the testing process, resulting in a large deviation between the test results and the actual application scenarios. For key indicators such as drones' autonomous flight capabilities, flight envelopes, perception and avoidance capabilities, and anti-interference, most existing testing platforms lack detailed and comprehensive testing solutions. Summary of the invention

[0004] To solve the above problems, the present invention provides an autonomous safety test experimental platform for drone systems, which provides a complete and comprehensive test for the autonomous safety of drones. By setting up a variety of complex flight missions and emergencies, the autonomous flight capability, perception and avoidance capability, and anti-interference capability of drones are comprehensively evaluated, providing strong protection and reliable evaluation for the autonomous safety of drones, and promoting the development of the drone industry in a safer, smarter and more reliable direction.

[0005] To achieve the above object, the present invention provides the following technical solutions.

[0006] The UAV system autonomous safety test experimental platform includes:

[0007] The ground station test module is used to receive various load information and flight data from the UAV system; it is also used to generate mission instructions and flight status instructions based on the received data, and store the mission instructions and flight status instructions; when the flight speed, altitude and position of the UAV are received, the ground station test module generates and stores corresponding flight mission adjustment instructions according to preset rules and algorithms, including changing the flight route and adjusting the flight altitude;

[0008] The mission load module is used to obtain the payload data of the UAV, including the images collected by the onboard camera equipment and the environmental data obtained by the measuring instrument, and to generate and store the load control instructions; when the image clarity collected by the onboard camera equipment does not meet the standard, the mission load module generates and stores the load control adjustment instructions, including adjusting the focal length and changing the shooting angle;

[0009] The flight control navigation test module is connected to the mission payload module for receiving payload control instructions, simulating navigation data and calculating flight control parameters accordingly, and storing flight control parameters and simulated navigation data;

[0010] The data link test module is connected to the ground station test module and the flight control navigation test module; it is used to send, receive and store mission instructions, flight status instructions, flight control parameters and simulated navigation data;

[0011] The security test component communicates with the ground station test module and performs penetration testing on the ground station test module to complete the testing and verification of various performances of the autonomous safety of the drone by exploiting loopholes and weaknesses;

[0012] The attack test module is communicatively connected with the ground station test module, the mission payload module, the flight control navigation test module and the data link test module, and is used to perform attack tests on the vulnerabilities of the ground station test module, the mission payload module, the flight control navigation test module and the data link test module.

[0013] Preferably, the vulnerabilities of the ground station test module include operating system vulnerabilities, system configuration and network; the vulnerabilities of the data link test module include data link terminal vulnerabilities and high-risk ports;

[0014] The vulnerabilities of the flight control navigation test module include flight control system vulnerabilities, RF chip and gyroscope; the vulnerabilities of the mission payload module include mission payload terminal vulnerabilities, system configuration and display system vulnerabilities.

[0015] Preferably, the penetration test includes information collection, vulnerability exploitation, permission acquisition and instruction tampering.

[0016] Preferably, the attack test includes a static test and a dynamic test; during the static test, the data link test module provides an interface; during the dynamic test, the test is performed while the load information and flight data of the UAV system are updated in real time.

[0017] Preferably, the attack mode of the attack test module includes:

[0018] DoS attack test, including killing redundant processes, updating the system network manager status, starting and calling the network card, wireless network sniffing, network card channel adaptive adjustment and continuous DoS attack test;

[0019] GPS attack testing, including automatic online configuration of the environment, HackRF One status detection, false GPS signal generation, and continuous GPS attack testing;

[0020] Replay attack testing, including automatic online configuration of the environment, HackRF One status detection, target signal frequency sniffing, control signal recording, and continuous replay attack testing;

[0021] Among them, the Dos attack test provides an interface, and the GPS attack test and replay attack test need to be equipped with an external clock module.

[0022] Preferably, the ground station test module comprises:

[0023] A ground station communication module is connected to the UAV system for receiving payload information and flight data from the UAV system;

[0024] A mission instruction computer, used for generating mission instructions and flight status instructions according to the payload information and flight data of the UAV system;

[0025] A status display computer, used to generate and display the flight status of the UAV based on the load information and flight data of the UAV system;

[0026] The ground station data terminal is used to obtain and store the UAV flight status.

[0027] Preferably, the mission load module includes:

[0028] UAV payload acquisition module, used to obtain UAV payload images, videos and parameter data;

[0029] Wireless communication module, used to send and receive payload control instructions; also used to send and receive UAV payload images, videos and parameter data;

[0030] The UAV measurement and control system is used for ground monitoring and load control based on the received UAV payload images, videos and parameter data; it is also used to generate and store load control instructions.

[0031] Preferably, the flight control navigation test module includes:

[0032] A flight control system computer is connected to the mission payload module for obtaining payload control instructions and calculating flight control parameters;

[0033] Integrated navigation computer, used to simulate navigation data according to load control instructions;

[0034] The six-degree-of-freedom motion equation module is used to generate flight control parameter simulation and store it.

[0035] Beneficial effects of the present invention:

[0036] The present invention proposes an autonomous safety test experimental platform for drone systems. Through comprehensive, rigorous and realistic tests, the platform can discover and resolve potential safety hazards in autonomous flight, perception and avoidance, and anti-interference of drones, greatly reducing the risk of accidents in actual operation of drones. The various performance indicators of drones are carefully evaluated and optimized, which significantly improves the autonomous flight capability and flight envelope of drones. This provides guarantees for the application of drones in more key areas, such as logistics distribution, public safety, and emergency rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a specific system framework diagram of an embodiment of the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0039] Example 1

[0040] On the basis of building a UAV simulation platform, build a UAV autonomous safety test platform. When building a test platform for UAV autonomous safety, it is necessary to ensure that there is sufficient simulation granularity, and the simulation can meet the static and dynamic test requirements of modules and systems. The specific plan is based on digital simulation, moderately combined with semi-physical modules. In terms of scalability, it will follow the principles of generalization, standardization, and modularization, and adopt mature software and hardware products to meet the scalability simulation and testing requirements of multiple models of the same series at home and abroad. In terms of human-computer interaction, the designed system will be able to meet performance requirements such as visualization and interactive friendliness. Data collection can meet the system status monitoring requirements, data analysis and evaluation can meet the analysis requirements of system vulnerability and attack effectiveness, and data visualization can meet the system status change display requirements before and after the attack. In terms of professionalism, security testing should have professional testing tools, test case libraries, and vulnerability libraries, and establish a set of security testing indicator systems and evaluation standards for a series of UAV models.

[0041] To this end, this embodiment proposes an autonomous safety test platform for drone systems, such as Figure 1 As shown, Figure 1This is the framework diagram of the UAV system autonomous safety test experimental platform, which specifically includes four test modules, namely the ground station (ground computer and related storage and communication modules), data link (basic functions such as data transmission and reception and data storage), flight control and navigation (flight control, integrated navigation and status computing modules) and mission payload module (various mission sensors).

[0042] Among them, the ground station test module is used to comprehensively receive various types of load information and detailed flight data from the drone system. It can accurately generate mission instructions and flight status instructions based on the received data, and properly store these key instructions. When receiving data such as the flight speed, altitude and position of the drone, the ground station test module will generate corresponding flight mission adjustment instructions based on preset rules and algorithms, such as changing the flight route or adjusting the flight altitude, and store these instructions in order for subsequent calls and analysis.

[0043] The mission load module is used to obtain the payload data of the drone, including but not limited to the images collected by the onboard camera equipment and the environmental data obtained by the measuring instruments. Subsequently, it will generate accurate load control instructions based on these data and store them effectively. If the image clarity taken by the onboard camera equipment does not meet the standard, the mission load module will generate corresponding adjustment instructions, such as adjusting the focal length, changing the shooting angle, etc., and save these instructions at the same time.

[0044] The flight control navigation test module and the mission payload module maintain a close communication connection. Its main responsibility is to receive the payload control instructions sent by the mission payload module. On this basis, it will simulate the navigation data and accurately calculate the flight control parameters, and store the relevant results properly. After receiving the payload control instructions for controlling the steering of the drone, the flight control navigation test module will simulate the corresponding navigation data, calculate the flight control parameters required to achieve the steering, such as the deflection angle of the servo, the thrust adjustment of the engine, etc., and retain these data.

[0045] The data link test module has established communication connections with the ground station test module and the flight control navigation test module. Its core function is to receive and send mission instructions and flight status instructions from the ground station test module, as well as receive and send flight control parameters and simulated navigation data transmitted by the flight control navigation test module, and store these important data comprehensively. It receives mission instructions from the ground station that require the drone to accelerate its flight, or new flight trajectory data calculated by the flight control navigation test module, and stores them all to provide strong support for subsequent analysis and processing.

[0046] The security test component conducts in-depth penetration testing on the ground station test module. Its working principle is to fully utilize possible vulnerabilities and weaknesses to fully complete the rigorous testing and precise verification of various performances of the autonomous safety of the drone. Attempts to obtain unauthorized data access rights, or attempt to tamper with stored mission instructions and flight status instructions, in order to test the security defense capabilities of the drone system.

[0047] The attack test module is connected to the ground station test module, the mission payload module, the flight control navigation test module and the data link test module for attack testing of the vulnerabilities of the ground station test module, the mission payload module, the flight control navigation test module and the data link test module. Specifically, the vulnerabilities of the ground station test module include operating system vulnerabilities, system configuration, and network; the vulnerabilities of the data link test module include data link terminal vulnerabilities and high-risk ports; the vulnerabilities of the flight control navigation test module include flight control system vulnerabilities, RF chips, and gyroscopes; the vulnerabilities of the mission payload module include mission payload terminal vulnerabilities, system configuration, and display system vulnerabilities. Furthermore, the attack test includes static testing and dynamic testing; during the static test, the data link test module provides an interface; during the dynamic test, the load information and flight data of the drone system are updated in real time for testing.

[0048] Furthermore, the attack methods of the attack test module include: DOS attack test module, GPS attack test module, and replay attack test module. The DOS attack test module is connected to the wireless network card through the USB interface, and controls the wireless network card through the program software to perform startup calls, network sniffing, channel adaptive adjustment, attack tests and other operations; the GPS attack test module generates a false GPS signal through software, then detects the status of HackRF One, and finally controls HackRF One to perform an attack test on the satellite communication link of the target drone. The replay attack test module is connected to HackRF One through the USB interface, detects its status, then sniffs the frequency of the target drone control data uplink and records the signal, and finally controls HackRF One to perform startup calls, continuous attack tests and other operations.

[0049] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. UAV system autonomous safety test experimental platform, characterized by: include: Ground station test module, used to receive various load information and flight data from the UAV system; It is also used to generate mission instructions and flight status instructions based on the received data, and store the mission instructions and flight status instructions; when the flight speed, altitude and position of the UAV are received, the ground station test module generates and stores corresponding flight mission adjustment instructions according to preset rules and algorithms, including changing the flight route and adjusting the flight altitude; The mission load module is used to obtain the payload data of the UAV, including the images collected by the onboard camera equipment and the environmental data obtained by the measuring instrument, and to generate and store the load control instructions; when the image clarity collected by the onboard camera equipment does not meet the standard, the mission load module generates and stores the load control adjustment instructions, including adjusting the focal length and changing the shooting angle; The flight control navigation test module is connected to the mission payload module for receiving payload control instructions, simulating navigation data and calculating flight control parameters accordingly, and storing flight control parameters and simulated navigation data; The data link test module is connected to the ground station test module and the flight control navigation test module; Used to send, receive and store mission instructions, flight status instructions, flight control parameters and simulated navigation data; The security test component communicates with the ground station test module and performs penetration testing on the ground station test module to complete the testing and verification of various performances of the autonomous safety of the drone by exploiting loopholes and weaknesses; An attack test module is connected to the ground station test module, the mission payload module, the flight control navigation test module and the data link test module for performing attack tests on the vulnerabilities of the ground station test module, the mission payload module, the flight control navigation test module and the data link test module; The vulnerabilities of the ground station test module include operating system vulnerabilities, system configuration and network; the vulnerabilities of the data link test module include data link terminal vulnerabilities and high-risk ports; The vulnerabilities of the flight control navigation test module include flight control system vulnerabilities, RF chips and gyroscopes; the vulnerabilities of the mission payload module include mission payload terminal vulnerabilities, system configuration and display system vulnerabilities; The penetration test includes information collection, vulnerability exploitation, permission acquisition and instruction tampering; The attack test includes static test and dynamic test; the data link test module provides an interface during the static test; During the dynamic test, the load information and flight data of the UAV system are updated in real time for testing; The attack modes of the attack test module include: DoS attack test, including killing redundant processes, updating the system network manager status, starting and calling the network card, wireless network sniffing, network card channel adaptive adjustment and continuous DoS attack test; GPS attack testing, including automatic online configuration of the environment, HackRF One status detection, false GPS signal generation, and continuous GPS attack testing; Replay attack testing, including automatic online configuration of the environment, HackRF One status detection, target signal frequency sniffing, control signal recording, and continuous replay attack testing; Among them, the Dos attack test provides an interface, and the GPS attack test and replay attack test need to be equipped with an external clock module.

2. The autonomous safety test platform for unmanned aerial vehicle systems according to claim 1 is characterized in that: The ground station test module includes: A ground station communication module is connected to the UAV system for receiving payload information and flight data from the UAV system; A mission instruction computer, used for generating mission instructions and flight status instructions according to the payload information and flight data of the UAV system; A status display computer, used to generate and display the flight status of the UAV based on the load information and flight data of the UAV system; The ground station data terminal is used to obtain and store the UAV flight status.

3. The autonomous safety test platform for unmanned aerial vehicle systems according to claim 1 is characterized in that: The mission payload module includes: UAV payload acquisition module, used to obtain UAV payload images, videos and parameter data; Wireless communication module, used to send and receive payload control instructions; also used to send and receive UAV payload images, videos and parameter data; The UAV measurement and control system is used for ground monitoring and load control based on the received UAV payload images, videos and parameter data; it is also used to generate and store load control instructions.

4. The autonomous safety test experimental platform for unmanned aerial vehicle systems according to claim 1 is characterized in that: The flight control navigation test module includes: A flight control system computer is connected to the mission payload module for obtaining payload control instructions and calculating flight control parameters; Integrated navigation computer, used to simulate navigation data according to load control instructions; The six-degree-of-freedom motion equation module is used to generate flight control parameter simulation and store it.

5. The autonomous safety test experimental platform for unmanned aerial vehicle systems according to claim 1 is characterized in that: After receiving the load control instruction for controlling the steering of the UAV, the flight control navigation test module simulates the corresponding navigation data, calculates the flight control parameters required to achieve the steering, including the deflection angle of the servo and the thrust adjustment of the engine, and stores them.

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