Unmanned aerial vehicle swarm measurement and control communication system based on Hardboard packet encryption and compression

Abstract

The invention belongs to the technical field of unmanned aerial vehicle communication, and provides an unmanned aerial vehicle swarm measurement and control communication system based on Hardboard packet encryption compression, which comprises an airborne measurement and control end and a ground measurement and control end, the airborne measurement and control end and the ground measurement and control end respectively comprise a Hardboard block encryption compression module, the Hardboard block encryption compression module adopts a Hardboard block encryption compression algorithm, non-compressed data is subjected to encryption calculation by adopting a non-compressed Hardboard matrix, and compressible data is subjected to encryption compression calculation by adopting a compressed Hardboard matrix; the measurement and control communication data are compressed and encrypted in groups, the requirement of large-scale unmanned aerial vehicle swarm networking for communication resources is reduced, and therefore more unmanned aerial vehicles can be supported under the condition that the communication capacity is limited.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle communication, and in particular relates to an unmanned aerial vehicle swarm measurement and control communication system based on Hardmard packet encryption compression. Background Art

[0002] As a new generation of cluster combat system, drone swarms can use large-scale, low-cost drones equipped with various types of mission payloads to implement autonomous and coordinated saturated combat missions. Compared with the point-to-point data link connection method of traditional single drone combat systems, drone swarms use self-organizing network mode to achieve inter-machine and air-to-ground communication, and the amount of information is several times greater than the traditional mode; and in order to prevent the enemy from cracking the link and maliciously accessing, drone swarms also need to have the ability to encrypt data when communicating. Therefore, drone swarms must have data compression and encryption capabilities to ensure reliable interconnection under limited communication bandwidth resources.

[0003] The existing measurement and control communication technology in the prior art mainly optimizes network resource scheduling to achieve efficient use of network resources, can provide reliable measurement and control communication for drone swarms, and is suitable for swarm networking environments with a small number of nodes. For example: The Chinese invention patent application with publication number CN114697902A proposes a measurement and control communication link and communication method for unmanned aerial vehicle swarm networking, which adopts time division multiple access, time division duplex system, single-hop network, and single-channel communication equipment. The measurement and control communication link and the inter-machine communication link operate at the same frequency, and the inter-machine communication, telemetry, remote control and mission payload information are compositely transmitted. The command and control nodes adopt a measurement and control communication form that combines directional antennas and omnidirectional antennas and works in time and stage, which simplifies the design of airborne communication equipment and realizes the remote transmission of telemetry, remote control and mission payload information while maintaining the inter-machine communication function.

[0004] The Chinese invention patent application with publication number CN114885379A proposes a large-scale UAV swarm adaptive clustering networking method, which solves the problems of uneven distribution, unbalanced load, the need to determine the number of clusters in advance, and the lack of certain adaptability of existing clustering networking methods.

[0005] The Chinese invention patent application with publication number CN114828267A proposes a resource scheduling method for drone cluster networking. The swarm network performs time-frequency resource reallocation and random network entry / exit of swarm network nodes based on standard message frames, effectively solving the problem of reduced network node service rate and increased data transmission delay as the number of networked nodes increases in the swarm network. The robustness and transmission efficiency of the swarm network are enhanced through time-frequency resource reallocation and random network entry / exit of the swarm network.

[0006] The Chinese invention patent application with publication number CN114650603A proposes a method for dynamically allocating time slot resources in a self-organizing communication network of a drone cluster. The method dynamically allocates node time slot resources based on the current network topology and the amount of business data generated by the nodes, while taking into account constraints such as the node signal-to-noise ratio and the remaining power of the nodes. This improves the efficiency of time slot resource utilization, increases the throughput of the unmanned cluster communication network, reduces network transmission delay, and extends the life cycle of each node in the network.

[0007] The above-mentioned Chinese invention patent applications all involve measurement, control and communication technologies for drone swarms, which mainly optimize communication performance under multi-node competition by dynamically scheduling network resources. The main problems are as follows: the working mode of traditional single-machine measurement, control and communication of drones is continued, and compression is not considered to reduce the optimization of measurement, control and communication resources; the drone measurement and control data is transmitted indiscriminately, and when the data is compressed, there is a risk of compression loss of key information and bit errors; the compression and encryption process uses two independent devices to work, and an integrated design is not achieved, which makes it difficult to integrate small drone swarms. Summary of the invention

[0008] Aiming at the application scenario of many nodes and large amount of information in drone swarm, and considering the information encryption requirements, the present invention proposes a drone swarm measurement and control communication system based on Hardmard group encryption compression. The drone swarm measurement and control communication system uses a non-compressed Hardmard matrix for encryption calculation for key emergency data content, and a compressed Hardmard matrix for encryption compression calculation for non-key emergency data, so as to realize group compression and encryption of measurement and control communication data, reduce the demand for communication resources for large-scale drone swarm networking, and thus support more drones under limited communication capacity.

[0009] The technical solution of the present invention is as follows: A UAV swarm measurement and control communication system based on Hardmard block encryption compression, including an airborne measurement and control terminal and a ground measurement and control terminal; The airborne measurement and control terminal is arranged on each drone of the drone swarm, and is used for sharing and returning the flight status information of the drone swarm, and transmitting the collaborative control information between the drones; The ground measurement and control terminal is arranged in the ground command and control system, and is used to analyze the flight status information of the drone swarm to obtain the global status of the drone swarm, and issue cooperative control information to the drone swarm to control the drone swarm to perform tasks; The airborne measurement and control terminal and the ground measurement and control terminal both include a Hardmard group encryption compression module, which is used to realize encryption compression of original data and restoration of encrypted compressed data.

[0010] Preferably, the Hardmard packet encryption compression module is composed of a hardware part and a software part; the airborne measurement and control terminal also includes a communication networking link, a collaborative control device and a flight control computer; The hardware part includes a main controller, a memory and a communication module, which are used to realize the interconnection and data transmission and reception with the communication networking link and the collaborative control device, and support the operation of the software part; The software part encrypts and compresses the original data from the node based on the Hardmard block encryption compression algorithm and restores the encrypted compressed data from the communication link.

[0011] Preferably, the Hardmard block encryption compression algorithm specifically includes: (1) Divide the original data into uncompressed data and compressible data; (2) For uncompressed data, when encrypting, the first Hardmard matrix is ​​used for encryption calculation; when restoring, the transpose of the first Hardmard matrix is ​​used for decryption; (3) For compressible data, when encryption compression is performed, a sparse transformation is performed on the Hardmard matrix according to the compression ratio requirement to obtain a second sparse Hardmard matrix, and encryption compression calculation is performed; when restoration is performed, the transpose of the second sparse Hardmard matrix is ​​used for restoration.

[0012] Preferably, the design rule of the first Hardmard matrix is: adopting the time-varying principle, designing the sorting rule of the Hardmard matrix according to the frame number of the non-compressed data, and realizing regular frame-by-frame Hardmard matrix ordering.

[0013] Preferably, the design rule of the second sparse Hardmard matrix is: perform feature analysis according to different sources and information types of the compressible data, and select different fixed-order Hardmard matrices and compression ratios for the compressible data of each information type.

[0014] Preferably, the uncompressed data includes collaborative control information and flight status information; and the compressible data includes sensor status information, load information and image information.

[0015] Preferably, the airborne measurement and control terminal also includes a communication networking link, a collaborative control device and a flight control computer.

[0016] Preferably, the communication networking link is used to realize data transmission among all nodes, the collaborative control device is used to realize coordination and task management among the UAVs, and the flight control computer is used to control and manage the flight actions of each UAV.

[0017] Preferably, the ground measurement and control terminal also includes a communication networking link and a ground control station.

[0018] Preferably, the communication networking link is used to realize data transmission between all nodes, and the ground control station is used to comprehensively display and manage the overall situation of the drone swarm, and set up a responsive command sending mechanism for the command and control of the drone swarm.

[0019] Compared with the prior art, the present invention has the following beneficial effects: 1. The drone swarm measurement and control communication system based on Hardmard packet encryption compression proposed in the present invention reduces the demand of drone swarms for measurement and control communication resources by adopting data compression, and can access a larger number of drone nodes under the same capacity, thus realizing large-scale drone swarm system construction.

[0020] 2. The drone swarm measurement and control communication system based on Hardmard block encryption compression proposed in the present invention can partition and compress data during data compression to ensure lossless encryption of key information, and can use associated encryption compression for other information.

[0021] 3. The unmanned aerial vehicle swarm measurement and control communication system based on Hardmard packet encryption compression proposed in the present invention adopts the Hardmard packet encryption compression algorithm, which has a simple calculation process, is easy to implement, has low requirements on hardware resources, can realize the integration of encryption and compression processes, and can be implemented on low-power, small-scale integrated circuits.

[0022] 4. The UAV swarm measurement and control communication system based on Hardmard packet encryption compression proposed in the present invention has an encryption and compression process that runs independently in the Hardmard packet encryption and compression module. It is simple to connect to external communication equipment and can be matched with equipment of various different communication systems such as traditional data links, ad hoc network communications, and star networks to achieve remote measurement and control of UAV swarms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. The features and advantages of the present invention can be more clearly understood by referring to the drawings. The drawings are schematic and should not be understood as limiting the present invention in any way. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 This is the overall structure diagram of the UAV swarm measurement and control communication system based on Hardmard block encryption compression proposed by the present invention.

[0025] Figure 2 This is the hardware composition diagram of the Hardmard block encryption compression module.

[0026] Figure 3 This is a data flow diagram of the Hardmard block encryption compression module.

[0027] Figure 4 This is a block diagram of the software portion of the Hardmard block encryption compression module.

[0028] Figure 5 Workflow diagram for encrypting and compressing original data using the Hardmard block encryption compression algorithm.

[0029] Figure 6 Workflow diagram for restoring encrypted compressed data using the Hardmard block encryption compression algorithm. DETAILED DESCRIPTION

[0030] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0032] The UAV swarm measurement and control communication system based on Hardmard block encryption compression proposed in the present invention is composed of an airborne measurement and control terminal and a ground measurement and control terminal. Figure 1 In some embodiments, a ground measurement and control terminal and multiple airborne measurement and control terminals are collaboratively networked using communication networking links to achieve collaborative measurement and control communications between air and ground and between aircraft.

[0033] The airborne measurement and control terminal is the measurement and control core of each drone in the drone swarm. Its main function is to share and transmit the flight status information of the drone swarm, as well as to transmit the collaborative control information between the drones. The airborne measurement and control terminal mainly includes: communication networking link, Hardmard packet encryption and compression module, collaborative control equipment and flight control computer and other core components. Among them, the communication networking link is used to realize data transmission between all nodes; the Hardmard packet encryption and compression module is used to realize the encryption and compression of original data and the restoration of encrypted and compressed data; the collaborative control equipment is used to realize the coordination and task management between drones, which requires not only the generation of collaborative data between drones, but also the control of the flight control computer for the local task instructions; the flight control computer is used to control and manage the flight actions of each drone.

[0034] The ground measurement and control terminal is the measurement and control core of the ground command and control management of the drone swarm. Its main function is to parse the flight status information of the drone swarm to obtain the global status of the drone swarm, and issue coordinated control information to the drone swarm to control the drone swarm to perform tasks. The ground measurement and control terminal mainly includes: communication networking link, Hardmard packet encryption compression module and ground control station and other core components. The ground control station is used to comprehensively display and manage the overall situation of the drone swarm, and set up a responsive command sending mechanism for the command and control of the drone swarm; the communication networking link and Hardmard packet encryption compression module have the same functions as those on the airborne measurement and control terminal.

[0035] In the airborne measurement and control end and the ground measurement and control end, the Hardmard group encryption compression module is the core module for performing original data encryption and compression calculations and encrypted compressed data restoration, which includes hardware and software parts.

[0036] The hardware part consists of the main controller, memory (FLASH and SDRAM) and communication module, which is used to realize the interconnection and data transmission and reception with the communication network link and cooperative control equipment, and support the operation of the software part. Its internal hardware structure is as follows Figure 2 shown.

[0037] The software part mainly performs encryption and compression operations, and realizes the encryption and compression process with lower computing resources. Its core is to use the Hardmard block encryption compression algorithm to encrypt and compress the original data from the node and restore the encrypted and compressed data from the communication link. Figure 3 It shows the data flow during the calculation process.

[0038] The Hardmard group encryption compression algorithm uses group encryption compression, specifically dividing the original data into non-compressed data and compressible data, encrypting and compressing them separately and combining them, such as Figure 4As shown. Among them, non-compressed data mainly refers to small-capacity reliable transmission data such as collaborative control information and flight status information; compressible data mainly refers to large-capacity real-time transmission data such as sensor status information, load information and image information. After completing the data classification, the Hardmard group encryption compression algorithm is used to perform corresponding encryption and compression processing on the classified data. For non-compressed data, when encrypting, the first Hardmard matrix is ​​used for encryption calculation. After the encryption calculation, the message type and encryption method are identified in the data packet; when restoring, the transpose of the first Hardmard matrix is ​​used for decryption. For compressible data, when encrypting and compressing, the Hardmard matrix is ​​sparsely transformed according to the compression ratio requirements to obtain a second sparse Hardmard matrix, and encryption compression calculation is performed; when restoring, the transpose of the second sparse Hardmard matrix is ​​used for restoration.

[0039] In order to improve encryption performance without increasing complexity, the Hardmard matrices of non-compressed data and compressed data are subjected to order-changing operations with different rules.

[0040] For non-compressed data, the time-varying principle is adopted to design the sorting rules of the Hardmard matrix according to the frame number of the measurement and control communication data, so as to achieve regular frame-by-frame Hardmard matrix ordering. There are many ways to generate the Hardmard matrix corresponding to each frame number. The simpler way is that the frame number 0 corresponds to the original Hardmard matrix, and each time the frame number is increased by 1, the first row of the Hardmard matrix is ​​arranged to the last row to generate a new Hardmard matrix.

[0041] For compressible data, feature analysis is performed based on different sources and information types of compressible data, and different fixed-order Hardmard matrices and compression ratios are selected for compressible data of each information type. In the implementation process, a variable-order Hardmard matrix can be maintained for each information type.

[0042] The specific encryption compression process and restoration process are as follows: Figure 5 and Figure 6 First, encrypt and compress the original data from the node. The specific steps are as follows: Step A-1: ​​Obtaining raw data; Step A-2: Determine whether the original data is compressible data, if so, execute step A-3, otherwise execute step A-7; Step A-3: Identify the information type number; Step A-4: Select the Hardmard matrix for calculation according to the information type number; Step A-5: Perform sparse transformation on the Hardmard matrix according to the compression ratio requirement to obtain a second sparse Hardmard matrix -; Step A-6: Calculate the original data using the second sparse Hardmard matrix to obtain encrypted compressed data, and proceed to step A-10; Step A-7: Identify the frame number; Step A-8: Select the Hardmard matrix for calculation according to the frame number; Step A-9: Perform encryption calculation using the Hardmard matrix to obtain encrypted data; Step A-10: Encode the obtained encrypted data or encrypted compressed data with a frame header identifier and send it to the communication networking link.

[0043] Encrypt and compress the encrypted compressed data from the communication networking link. The specific steps are as follows: B-1: Get encrypted compressed data B-2: Determine whether the encrypted compressed data is compressible data. If so, execute step B-3; otherwise, execute step B-7 B-3: Identification information type number; B-4: Select the Hardmard matrix for calculation according to the information type number; B-5: Perform sparse transformation on the Hardmard matrix according to the compression ratio to obtain a second sparse Hardmard matrix; B-6: Use the transpose of the second sparse Hardmard matrix to calculate and obtain the original data, and proceed to step B-10; B-7: Identify the frame number; B-8: Select the Hardmard matrix for calculation according to the frame number; B-9: Use the transpose of the Hardmard matrix to calculate and obtain the original data, and proceed to step B-9; B-10: Obtain the original data and encode it to obtain the original data packet; B-11: Sends the original data packet to the cooperative control equipment or ground control station.

[0044] In summary, the drone swarm measurement and control communication system based on Hardmard packet encryption compression proposed in the present invention realizes the collaborative measurement and control communication of drone swarms with the Hardmard packet encryption compression module as the core, and can be connected to the traditional uncompressed encryption measurement and control system in a simple way for transformation and upgrading, thereby realizing reliable and confidential measurement and control communication of drone swarms under limited communication bandwidth resources.

[0045] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0047] In the present invention, the terms "first", "second", "third", "fourth" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. The term "plurality" refers to two or more, unless otherwise clearly defined.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A drone swarm measurement and control communication system based on Hardmard packet encryption compression, characterized in that: Including airborne measurement and control terminal and ground measurement and control terminal; The airborne measurement and control terminal is arranged on each drone of the drone swarm, and is used for sharing and returning the flight status information of the drone swarm, and transmitting the collaborative control information between the drones; The ground measurement and control terminal is arranged in the ground command and control system, and is used to analyze the flight status information of the drone swarm to obtain the global status of the drone swarm, and issue cooperative control information to the drone swarm to control the drone swarm to perform tasks; The airborne measurement and control terminal and the ground measurement and control terminal both include a Hardmard group encryption compression module, which is used to realize encryption compression of original data and restoration of encrypted compressed data.

2. The UAV swarm measurement, control and communication system according to claim 1, characterized in that: The Hardmard packet encryption compression module is composed of a hardware part and a software part; the airborne measurement and control terminal also includes a communication networking link, a collaborative control device and a flight control computer; The hardware part includes a main controller, a memory and a communication module, which are used to realize the interconnection and data transmission and reception with the communication networking link and the collaborative control device, and support the operation of the software part; The software part encrypts and compresses the original data from the node based on the Hardmard block encryption compression algorithm and restores the encrypted compressed data from the communication link.

3. The UAV swarm measurement, control and communication system according to claim 2, characterized in that: The Hardmard block encryption compression algorithm specifically includes: (1) Divide the original data into uncompressed data and compressible data; (2) For uncompressed data, when encrypting, the first Hardmard matrix is ​​used for encryption calculation; when restoring, the transpose of the first Hardmard matrix is ​​used for decryption; (3) For compressible data, when encryption compression is performed, the Hardmard matrix is ​​sparsely transformed according to the compression ratio requirement to obtain a second sparse Hardmard matrix, and encryption compression calculation is performed; when restoration is performed, the transpose of the sparse second Hardmard matrix is ​​used for restoration.

4. The UAV swarm measurement, control and communication system according to claim 3, characterized in that: The design rule of the first Hardmard matrix is: adopting the time-varying principle, designing the sorting rule of the Hardmard matrix according to the frame sequence number of the non-compressed data, and realizing the regular Hardmard matrix sequence change frame by frame.

5. The UAV swarm measurement, control and communication system according to claim 4, characterized in that: The design rule of the second sparse Hardmard matrix is: perform feature analysis according to different sources and types of compressible data, and select different fixed-order Hardmard matrices and compression ratios for each type of compressible data.

6. The UAV swarm measurement, control and communication system according to claim 3, characterized in that: The non-compressed data includes collaborative control information and flight status information; the compressible data includes sensor status information, load information and image information.

7. The UAV swarm measurement, control and communication system according to claim 2, characterized in that: The communication networking link is used to realize data transmission among all nodes, the collaborative control device is used to realize coordination and task management among the UAVs, and the flight control computer is used to control and manage the flight actions of each UAV.

8. The UAV swarm measurement, control and communication system according to claim 1, characterized in that: The ground measurement and control terminal also includes a communication networking link and a ground control station.

9. The UAV swarm measurement, control and communication system according to claim 8, characterized in that: The communication networking link is used to realize data transmission between all nodes, and the ground control station is used to comprehensively display and manage the overall situation of the drone swarm and set a responsive command sending mechanism for the command and control of the drone swarm.

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