A method for data acquisition from multiple drones considering limited battery life

Abstract

This invention discloses a multi-drone data acquisition method considering limited battery life, belonging to the field of drone collaborative technology. The method includes the following steps: distributing encrypted parameters to sensors and a drone cluster via a central server, and acquiring data through the sensors based on these parameters; encrypting the raw data acquired by the sensors, transmitting the encrypted data to drones flying within its communication range, synchronizing drone status, calculating a reward rate based on a reward function, and initiating action by the drone to acquire data based on the highest reward rate; and aggregating the information acquired by the drones to the central server, where the data is decrypted to complete the multi-drone data acquisition. This invention solves the problems of data leakage due to the decryption of a single data packet and data loss due to communication instability in existing multi-drone secure data acquisition methods, although data encryption can improve communication security.

Description

Technical Field

[0001] This invention belongs to the field of drone collaborative technology, specifically relating to a multi-drone data acquisition method considering limited battery life. Background Technology

[0002] With the development of Internet of Things (IoT) technology, more and more devices are connecting to the network, constantly generating and transmitting large amounts of data. Drones, due to their flexibility and wide range of applications, have become an important tool for data collection.

[0003] Taking IoT data collection as an example, drones can collect data from sensor nodes scattered across various areas, achieving data communication with lower energy consumption and solving the problem of insufficient mobile communication network coverage. Furthermore, in more common application environments, drones also need to face security threats related to the information collected. Competitors' drones may be patrolling the same area and attempting to eavesdrop on sensor data. Introducing the Shamir threshold method provides a good solution for secure data collection by drones. By dividing a data set into multiple encrypted data packets, and requiring a certain number of encrypted packets to decrypt, data security is improved.

[0004] However, applying the Shamir threshold method to multi-drone data acquisition still faces challenges in achieving high efficiency and practicality. The sensor data collected by drones is diverse and includes unstructured data such as image, audio, and graph data. The sheer volume of this data already imposes a significant communication burden on information transmission, and the Shamir method's reliance on multiple encrypted copies of the same source data exacerbates this problem. If collaboration efficiency is low, multiple drones often struggle to achieve complete data acquisition with limited battery power. If multiple drones fail to collect more than a threshold number of encrypted data packets, it becomes difficult to recover the original data. Conversely, collecting too many encrypted packets of the same original data leads to wasted drone battery power, reducing the efficiency of multi-drone collaboration.

[0005] Therefore, a new method is needed to coordinate the data collection work of multiple UAVs under the Shamir threshold scheme, in order to improve collection efficiency and save power while ensuring data security. To this end, this invention proposes a multi-UAV data collection method that considers limited battery life, addressing the aforementioned challenges. Summary of the Invention

[0006] This invention provides a multi-drone data acquisition method that takes into account limited battery life. It solves the problems of existing multi-drone secure data acquisition methods, which, although they can improve communication security through data encryption, suffer from data leakage due to the decryption of a single data packet and data loss due to communication instability.

[0007] To solve the above-mentioned technical problems, the technical solution of the present invention is: a multi-UAV data acquisition method considering limited battery life, comprising the following steps:

[0008] S1. The encrypted parameters are distributed to the sensors and drone clusters through the central server, and data is collected by the sensors based on the encrypted parameters.

[0009] S2. Encrypt the raw data collected by the sensor, transmit the encrypted data to the drone flying within its communication range, synchronize the drone status, calculate the reward rate based on the reward function, and make the drone take action to collect data based on the highest reward rate.

[0010] S3. The information collected by the drones is aggregated to the central server, and the data is decrypted through the central server to complete the data collection of multiple drones.

[0011] Furthermore, in step S1, the sensor is an IoT device;

[0012] The encryption parameters in step S1 include the key sequence {x} n The data backup number Q, the decryption threshold K, and the counter Δk are defined as follows: the decryption threshold K represents the minimum number of data backups required for successful decryption of the same data, and the counter Δk represents the remaining amount of data to be collected by the IoT device.

[0013] Furthermore, the specific steps of step S1 are as follows:

[0014] S11. Based on the area of ​​the detection zone and the sensing range of the sensors, the number of sensors N is determined by the central server, and the number of drones M is determined based on the number of sensors and the drone's endurance.

[0015] S12. Based on the drone's mobility, the range for motion detection is set through the central server;

[0016] S13. Set the key sequence {x} through the central server. n}, data backup number Q, decryption threshold K, and counter Δk;

[0017] S14. Transfer the key sequence {x} through the central server. n The data backup number Q and decryption threshold K are distributed to the sensors and the drone. The sensors collect data and initialize the counter Δk inside the drone.

[0018] Furthermore, the specific steps of step S2 are as follows:

[0019] S21. Encrypt the raw data D0 collected by each sensor using the Shamir threshold encryption function, based on the key sequence {x}.n Encrypt the data to obtain Q backups, and form a backup array {D}. n};

[0020] S22. Whenever a drone enters the communication range of the sensor, an encrypted data backup and its corresponding key are transmitted to the drone based on the sensor until no drone flies by or the backup array has been transmitted, at which point the transmission of the data backup to the drone is stopped.

[0021] S23. Determine whether each drone has successfully collected and backed up data. If so, decrement the value of the counter inside the drone by one; otherwise, keep the value of the counter inside the drone unchanged.

[0022] S24. Based on the collected data backup, send the previous round of movement plan of each drone group, share the status with all drones, align the environmental information of multiple drones, and update the counters inside each drone.

[0023] S25. Based on the location of the drone, the distance of each sensor, and the amount of data to be collected, calculate the rate of return according to the reward function;

[0024] S26. Select the mobile scheme with the highest return on investment and move the drone to collect data, while losing the corresponding amount of power from the drone.

[0025] Furthermore, the expression for the Shamir threshold encryption function in step S21 is:

[0026] f(x) = D0 + a1x + a2x 2 +...+a K-1 x K-1 ,x∈{x n}

[0027] Where f(·) represents the Shamir threshold encryption function, x represents the encryption factor, and a h The encryption parameters are represented as h = 1, 2, ..., K-1;

[0028] The backup array {D n The expression for} is:

[0029] {D n}={f(x n )}.

[0030] Furthermore, the formula for updating the internal counters of each UAV in step S24 is as follows:

[0031] Δk t =Δk t-1 -∑ i∈M UAV it-1 (k),k∈N

[0032]

[0033] Where, Δk t Δk represents the counter value inside the drone during the t-th round of movement. t-1 This represents the counter value inside the UAV during the (t-1)th round of movement. i t-1 (k) represents the return value indicating whether the i-th drone successfully collected data from the IoT device.

[0034] Furthermore, the formula for calculating the rate of return in step S25 is as follows:

[0035]

[0036] in, Let p(i) represent the rate of return for the i-th drone from any of its immediate neighbors, and p(i) represent the position of the i-th drone. Let represent the coordinates of any immediately adjacent position of the i-th drone, and b(i) represent the remaining battery power of the i-th drone. Indicate p(i) and The distance, p(IoT(k)) represents the location of the k-th IoT device. p(IoT(k))) represents from The shortest distance to return to the k-th IoT device;

[0037] The formula for calculating the movement scheme with the highest rate of return in step S26 is as follows:

[0038]

[0039] Among them, movement i This represents the action that maximizes the return of the i-th drone. This indicates the parameter that returns the maximum value of the function. The value of .

[0040] Furthermore, the specific steps of step S3 are as follows:

[0041] S31. Back up and transmit the data collected by the drone back to the central server;

[0042] S32. Data backups collected through the central server are aggregated. When there are more than K data backups from the same sensor, the data is decrypted to obtain the original data, thus completing the multi-UAV data acquisition.

[0043] The beneficial effects of this invention are as follows: Compared with existing technologies, this invention achieves secure and efficient transmission of multiple encrypted backups of the same data through rate-of-reward control. Furthermore, by employing the Shamir threshold method, drones collect multiple encrypted data backups and perform comprehensive decryption to counter eavesdropping threats. By combining the rate-of-reward function with the consideration of data backup collection and the limited drone endurance, it selects the more profitable drone action strategy, promoting efficient cooperation among drone swarms. Under the threats of endurance limitations and random eavesdropping during drone communication, it organizes multiple drones to cooperate efficiently, achieving secure and efficient data collection. Attached Figure Description

[0044] Figure 1 The flowchart illustrates a multi-UAV data acquisition method for the present invention, taking into account limited battery life.

[0045] Figure 2 This is a schematic diagram illustrating the calculation of the rate of return for the UAV of this invention. Detailed Implementation

[0046] Those skilled in the art will recognize that the embodiments described herein are intended to help the reader understand the principles of the invention, and should be understood that the scope of protection of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the technical teachings disclosed in this invention without departing from the spirit of the invention, and these modifications and combinations are still within the scope of protection of this invention.

[0047] Example 1

[0048] like Figure 1 As shown, this invention provides a multi-UAV data acquisition method considering limited battery life, comprising the following steps:

[0049] S1. The encrypted parameters are distributed to the sensors and drone clusters through the central server, and data is collected by the sensors based on the encrypted parameters.

[0050] S2. Encrypt the raw data collected by the sensor, transmit the encrypted data to the drone flying within its communication range, synchronize the drone status, calculate the reward rate based on the reward function, and make the drone take action to collect data based on the highest reward rate.

[0051] S3. The information collected by the drones is aggregated to the central server, and the data is decrypted through the central server to complete the data collection of multiple drones.

[0052] The sensor in step S1 is an IoT device;

[0053] The encryption parameters in step S1 include the key sequence {x} nThe data backup number Q, the decryption threshold K, and the counter Δk are defined as follows: the decryption threshold K represents the minimum number of data backups required for successful decryption of the same data, and the counter Δk represents the remaining amount of data to be collected by the IoT device.

[0054] The specific steps of step S1 are as follows:

[0055] S11. Based on the area of ​​the detection zone and the sensing range of the sensors, the number of sensors N is determined by the central server, and the number of drones M is determined based on the number of sensors and the drone's endurance.

[0056] S12. Based on the drone's mobility, the range for motion detection is set through the central server;

[0057] S13. Set the key sequence {x} through the central server. n}, data backup number Q, decryption threshold K, and counter Δk;

[0058] S14. Transfer the key sequence {x} through the central server. n The data backup number Q and decryption threshold K are distributed to the sensors and the drone. The sensors collect data and initialize the counter Δk inside the drone.

[0059] In this embodiment 1, the range of motion report detection is determined by the single-step movement capability of the UAV, covering all locations that the UAV can reach in one step, and supporting the cooperation of multiple UAVs of different models and performance.

[0060] The central server determines the encryption parameters used in the Shamir threshold algorithm, which also include a prime number P. The key sequence... Satisfy x a ≠0, x b ≠0, x a ≠x b .

[0061] To ensure that the collected data can be successfully decrypted by the central server and that the encryption equations can be successfully generated in subsequent processes, it is necessary to guarantee that Q > K and P > K. Furthermore, the counter value inside the drone must be initialized to Q before the operation begins.

[0062] The specific steps of step S2 are as follows:

[0063] S21. Encrypt the raw data D0 collected by each sensor using the Shamir threshold encryption function, based on the key sequence {x}. n Encrypt the data to obtain Q backups, and form a backup array {D}. n};

[0064] S22. Whenever a drone enters the communication range of the sensor, an encrypted data backup and its corresponding key are transmitted to the drone based on the sensor until no drone flies by or the backup array has been transmitted, at which point the transmission of the data backup to the drone is stopped.

[0065] S23. Determine whether each drone has successfully collected and backed up data. If so, decrement the value of the counter inside the drone by one; otherwise, keep the value of the counter inside the drone unchanged.

[0066] S24. Based on the collected data backup, send the previous round of movement plan of each drone group, share the status with all drones, align the environmental information of multiple drones, and update the counters inside each drone.

[0067] S25. Based on the location of the drone, the distance of each sensor, and the amount of data to be collected, calculate the rate of return according to the reward function;

[0068] S26. Select the mobile scheme with the highest return on investment and move the drone to collect data, while losing the corresponding amount of power from the drone.

[0069] The expression for the Shamir threshold encryption function in step S21 is:

[0070] f(x) = D0 + a1x + a2x 2 +...+a K-1 x K-1 ,x∈{x n}

[0071] Where f(·) represents the Shamir threshold encryption function, x represents the encryption factor, and a h The encryption parameters are represented as h = 1, 2, ..., K-1;

[0072] In this embodiment 1, K-1 integers are selected from a finite field from 1 to P as the encryption parameters of the encryption function, i.e., a1, a2, ..., a K-1 ,and It is not 0. During decryption, the central server does not need to know the specific value of the encryption factor x. It only needs to collect more than the threshold K to deduce the original data D0.

[0073] The backup array {D n The expression for} is:

[0074] {D n}={f(x n )}.

[0075] In this embodiment 1, during step S23, each drone updates its internal counter based on the collection results during round t-1 of movement. For the k-th IoT device, if the i-th drone successfully collects data, its internal counter is updated to: Δk t =Δk t-1 -1; If collection fails, its internal counter value remains unchanged: Δk t =Δk t-1 .

[0076] The formula for updating the internal counters of each UAV in step S24 is as follows:

[0077] Δk t =Δk t-1 -∑ i∈M UAV i t-1 (k),k∈N

[0078]

[0079] Where, Δk t Δk represents the counter value inside the drone during the t-th round of movement. t-1 This represents the counter value inside the UAV during the (t-1)th round of movement. i t-1 (k) represents the return value indicating whether the i-th drone successfully collected data from the IoT device.

[0080] In this embodiment 1, the data collection for the k-th IoT device stops when the amount of data to be collected is 0. When the drone decides to move, it needs to pre-assess the reward based on its own location, the distance to each IoT device, and the amount of data to be collected. Taking the position p(i) of the i-th drone as a reference, the coordinates of any adjacent position around it are designed as follows: The formula for calculating the rate of return for the drone based on its location.

[0081] The formula for calculating the rate of return in step S25 is as follows:

[0082]

[0083] in, Let p(i) represent the rate of return for the i-th drone from any of its immediate neighbors, and p(i) represent the position of the i-th drone. Let represent the coordinates of any immediately adjacent position of the i-th drone, and b(i) represent the remaining battery power of the i-th drone. Indicate p(i) and The distance, p(IoT(k)) represents the location of the k-th IoT device. Indicates from The shortest distance to return to the k-th IoT device;

[0084] In this embodiment 1, according to the above-described rate of return calculation method, when the drone has sufficient battery power, e -b(i) Smaller drones allow for more flexible maneuverability, and as their battery power decreases, their choices will be more influenced by the rate of return.

[0085] The formula for calculating the movement scheme with the highest rate of return in step S26 is as follows:

[0086]

[0087] Among them, movement i This represents the action that maximizes the return of the i-th drone. This indicates the parameter that returns the maximum value of the function. The value of .

[0088] The specific steps of step S3 are as follows:

[0089] S31. Back up and transmit the data collected by the drone back to the central server;

[0090] S32. Data backups collected through the central server are aggregated. When there are more than K data backups from the same sensor, the data is decrypted to obtain the original data, thus completing the multi-UAV data acquisition.

[0091] In this embodiment 1, the Shamir encryption equation of the sensor is restored using K data backups and their corresponding keys:

[0092]

[0093] The above K equations form a system of equations, which can be solved to obtain the encryption parameters a1, a2, ..., a. K-1 And the original data D0.

[0094] Example 2

[0095] In this embodiment 2, as Figure 2 As shown, two IoT devices, IoT_1 and IoT_2, are placed in a 5×5 map. Figure 2 (As shown in the green squares), and a drone i (i.e., UAV_i) whose movement capability is limited to moving one adjacent square per step. (As shown in the pink squares) For example, in a certain action round, drone i has 8 units of battery remaining, and IoT_1 and IoT_2 have 8 and 2 units of data to be collected, respectively.

[0096] From UAV_i's perspective, The rate of return is calculated as follows:

[0097]

[0098] Among them, for IoT_1 It is 3. The value is 7, for IoT_2 It is 3. It is 5.

[0099] Based on this formula, the reward rate of the drone is calculated by iterating through the four adjacent grids. The reward rates for the top, bottom, left, and right grids are as follows: Therefore, UAV_i selects the rightmost grid cell with the highest return rate to move to.

[0100] In this second embodiment, the central server selects a prime number P = 13, a decryption threshold K = 3, and a data backup number Q = 4 to distribute data to the sensors. The sensors select a1 = 3 and a2 = 2 within a finite domain between 1 and 13. Assume the original sensor data D0 = 2. At this point, the encryption equation is: f(x) = 2 + 3x + 2x 2 .

[0101] Based on the number of data backups, there are 4 locally encrypted data copies: D1 = f(x1 = 1) = 7, D2 = f(x2 = 2) = 16, D3 = f(x3 = 3) = 29, D4 = f(x4 = 4) = 46.

[0102] Suppose that N=3 drones are dispatched, namely UAV1, UAV2 and UAV3. The data collected and transmitted by UAV1 to the central server is (D1=7, x1=1), the data collected and transmitted by UAV2 is (D3=29, x3=3), and the data collected and transmitted by UAV3 is (D4=46, x4=4).

[0103] After receiving the three sets of data, the central server reconstructs the Shamir encryption equations as follows:

[0104]

[0105] Solve for the original data: D0 = 2.

[0106] In summary, this invention proposes a multi-UAV data acquisition and encrypted transmission method based on the Shamir threshold method. By collecting multiple data copies that cannot be decrypted independently, it alleviates the security risks of single-data packet encryption methods. Since the Shamir mechanism requires a larger amount of encrypted data than the threshold to decrypt data, and UAVs face power limitations, this invention designs a reward function to ensure that multiple UAVs can efficiently collaborate in performing data collection tasks. This reward function enables UAVs to adopt movement strategies with higher reward rates.

Claims

1. A method for data acquisition from multiple unmanned aerial vehicles (UAVs) considering limited battery life, characterized in that, Includes the following steps: S1. The encrypted parameters are distributed to the sensors and drone clusters through the central server, and data is collected by the sensors based on the encrypted parameters. S2. Encrypt the raw data collected by the sensor, transmit the encrypted data to the drone flying within its communication range, synchronize the drone status, calculate the reward rate based on the reward function, and make the drone take action to collect data based on the highest reward rate. S3. The information collected by the drones is aggregated to the central server, and the data is decrypted through the central server to complete the data collection of multiple drones.

2. The multi-UAV data acquisition method considering limited battery life according to claim 1, characterized in that, The sensor in step S1 is an IoT device; The encryption parameters in step S1 include the key sequence {x} n The data backup number Q, the decryption threshold K, and the counter Δk are defined as follows: the decryption threshold K represents the minimum number of data backups required for successful decryption of the same data, and the counter Δk represents the remaining amount of data to be collected by the IoT device.

3. The multi-UAV data acquisition method considering limited battery life according to claim 2, characterized in that, The specific steps of step S1 are as follows: S11. Based on the area of ​​the detection zone and the sensing range of the sensors, the number of sensors N is determined by the central server, and the number of drones M is determined based on the number of sensors and the drone's endurance. S12. Based on the drone's mobility, the range for motion detection is set through the central server; S13. Set the key sequence {x} through the central server. n }, data backup number Q, decryption threshold K, and counter Δk; S14. Transfer the key sequence {x} through the central server. n The data backup number Q and decryption threshold K are distributed to the sensors and the drone. The sensors collect data and initialize the counter Δk inside the drone.

4. The multi-UAV data acquisition method considering limited battery life according to claim 3, characterized in that, The specific steps of step S2 are as follows: S21. Encrypt the raw data D0 collected by each sensor using the Shamir threshold encryption function, based on the key sequence {x}. n Encrypt the data to obtain Q backups, and form a backup array {D}. n }; S22. Whenever a drone enters the communication range of the sensor, an encrypted data backup and its corresponding key are transmitted to the drone based on the sensor until no drone flies by or the backup array has been transmitted, at which point the transmission of the data backup to the drone is stopped. S23. Determine whether each drone has successfully collected and backed up data. If so, decrement the value of the counter inside the drone by one; otherwise, keep the value of the counter inside the drone unchanged. S24. Based on the collected data backup, send the previous round of movement plan of each drone group, share the status with all drones, align the environmental information of multiple drones, and update the counters inside each drone. S25. Based on the location of the drone, the distance of each sensor, and the amount of data to be collected, calculate the rate of return according to the reward function; S26. Select the mobile scheme with the highest return on investment and move the drone to collect data, while losing the corresponding amount of power from the drone.

5. The multi-UAV data acquisition method considering limited battery life according to claim 4, characterized in that, The expression for the Shamir threshold encryption function in step S21 is: f(x)=D0+a1x+a2x 2 +...+a K-1 x K-1 ,x∈{x n } Where f(·) represents the Shamir threshold encryption function, x represents the encryption factor, and a h The encryption parameters are represented as h = 1, 2, ..., K-1; The backup array {D n The expression for} is: {D n }={f(x n )}。 6. The multi-UAV data acquisition method considering limited battery life according to claim 4, characterized in that, The formula for updating the internal counters of each UAV in step S24 is as follows: Where, Δk t Δk represents the counter value inside the drone during the t-th round of movement. t-1 This represents the counter value inside the UAV during the (t-1)th round of movement. i t-1 (k) represents the return value indicating whether the i-th drone successfully collected data from the k-th IoT device in round t-1.

7. The multi-UAV data acquisition method considering limited battery life according to claim 6, characterized in that, The formula for calculating the rate of return in step S25 is as follows: in, Let p(i) represent the rate of return for the i-th drone from any of its immediate neighbors, and p(i) represent the position of the i-th drone. Let represent the coordinates of any immediately adjacent position of the i-th drone, and b(i) represent the remaining battery power of the i-th drone. Indicate p(i) and The distance, p(IoT(k)) represents the location of the k-th IoT device. Indicates from The shortest distance to return to the k-th IoT device; The formula for calculating the movement scheme with the highest rate of return in step S26 is as follows: Among them, movement i This represents the action that maximizes the return of the i-th drone. This indicates the parameter that returns the maximum value of the function. The value of .

8. The multi-UAV data acquisition method considering limited battery life according to claim 2, characterized in that, The specific steps of step S3 are as follows: S31. Back up and transmit the data collected by the drone back to the central server; S32. Data backups collected through the central server are aggregated. When there are more than K data backups from the same sensor, the data is decrypted to obtain the original data, thus completing the multi-UAV data acquisition.

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