UAV Swarm Measurement and Control Communication System Based on Hardmard Block Encryption Compression

Abstract

The present invention belongs to the technical field of UAV communication, and proposes a UAV swarm measurement and control communication system based on Hardmard block encryption and compression, including an airborne measurement and control terminal and a ground measurement and control terminal; both the airborne measurement and control terminal and the ground measurement and control terminal include a Hardmard block encryption and compression module. The Hardmard block encryption and compression module uses the Hardmard block encryption and compression algorithm, encrypts and calculates non-compressed data using a non-compressed Hardmard matrix, and encrypts and compresses compressible data using a compressed Hardmard matrix, so as to realize block compression and encryption of measurement and control communication data, reduce the demand for communication resources in large-scale UAV swarm networking, and thus support a larger number of UAVs when the communication capacity is limited.

Description

Technical Field

[0001] The present invention belongs to the technical field of UAV communication, and particularly relates to a UAV swarm measurement and control communication system based on Hardmard block encryption and compression. Background Art

[0002] As a new generation of cluster combat system, UAV swarms can use large-scale and low-cost UAVs equipped with various types of mission payloads to implement autonomous and collaborative saturation combat missions. Compared with the point-to-point data link connection method of traditional single-UAV combat systems, UAV swarms use an ad-hoc network mode to achieve inter-aircraft and air-ground communication, and the amount of information is several times higher than that of the traditional mode; moreover, to prevent the enemy from cracking the link and maliciously accessing, UAV swarms also need to have the ability to encrypt data when communicating. Therefore, UAV swarms must have the ability to compress and encrypt data to ensure reliable interconnection under limited communication bandwidth resources.

[0003] The existing measurement and control communication technologies mainly optimize the network resource scheduling to achieve the efficient use of network resources, can provide reliable measurement and control communication for UAV swarms, and are applicable to the networking environment of small numbers of nodes in a swarm. For example:

[0004] The Chinese patent application with the publication number CN114697902A proposes a UAV swarm networking measurement and control communication link and a communication method, which adopts a time division multiple access and time division duplex system, a single-hop network, the communication equipment adopts a single-channel form, the measurement and control communication link and the inter-aircraft communication link work on the same frequency point, the inter-aircraft communication, telemetry, remote control and mission payload information are multiplexed for transmission, and the command and control node adopts a measurement and control communication form combining a directional antenna and an omnidirectional antenna and working in a time-division and stage-based manner, simplifies the design of airborne communication equipment, and realizes the inter-aircraft communication function while remotely transmitting telemetry, remote control and mission payload information.

[0005] The Chinese patent application with the publication number CN114885379A proposes a large-scale UAV cluster adaptive clustering networking method, which solves the problems of uneven distribution, unbalanced load and lack of certain self-adaptability in the existing clustering networking methods that require the number of clusters to be determined in advance.

[0006] The Chinese patent application with the publication number CN114828267A proposes a resource scheduling method for UAV cluster networking. The swarm network performs time-frequency resource reallocation of the swarm network and random access / withdrawal of swarm network nodes according to standard message frames, effectively solving the problems that the service rate of network nodes in the swarm network decreases and the data transmission delay increases as the number of access nodes increases. Through the time-frequency resource reallocation and random access / withdrawal of the swarm network, the robustness and transmission efficiency of the swarm network are enhanced.

[0007] The Chinese invention patent application with the publication number CN114650603A proposes a method for dynamically allocating time slot resources in an unmanned aerial vehicle (UAV) swarm self-organizing communication network. According to the current network topology structure and the service data volume generated by nodes, while comprehensively considering constraints such as the signal-to-noise ratio of nodes and the remaining battery power of nodes, the dynamic allocation of time slot resources for nodes is carried out, which improves the utilization efficiency of time slot resources, increases the throughput of the UAV swarm communication network, reduces the network transmission delay, and extends the life cycle of each node in the network.

[0008] The above-mentioned Chinese invention patent applications are all related to the measurement and control communication technology for UAV swarms, mainly by dynamically scheduling network resources to optimize the communication performance under multi-node competition. The main problems are as follows: The working mode of traditional single UAV measurement and control communication is continued, and the use of compression means to optimize measurement and control communication resources is not considered; The measurement and control data of UAVs are transmitted without distinction. When the data is compressed, there is a risk of bit errors due to compression loss of key information; The processes of compression and encryption work with two independent devices, and an integrated design is not achieved, which is not easy to integrate for small UAV swarms. Summary of the Invention

[0009] In view of the application scenario with a large number of nodes and a large amount of information in the UAV swarm, and considering the information encryption requirement, the present invention proposes a UAV swarm measurement and control communication system based on Hardmard block encryption and compression. The UAV swarm measurement and control communication system uses a non-compressed Hardmard matrix for encryption calculation of key and urgent data content, and uses a compressed Hardmard matrix for encryption and compression calculation of non-key and non-urgent data, realizing grouped compression and encryption of measurement and control communication data, reducing the demand for communication resources in large-scale UAV swarm networking, so that more UAVs can be supported under limited communication capacity.

[0010] The technical solution of the present invention is as follows:

[0011] A UAV swarm measurement and control communication system based on Hardmard block encryption and compression, comprising an airborne measurement and control terminal and a ground measurement and control terminal;

[0012] The airborne measurement and control terminal is arranged on each UAV in the UAV swarm, and is used for sharing and transmitting the flight state information of the UAV swarm and transmitting the cooperative control information between UAVs;

[0013] The ground measurement and control terminal is arranged in the ground command system, and is used for analyzing the flight state information of the UAV swarm to obtain the global state of the UAV swarm, and sending cooperative control information to the UAV swarm to control the UAV swarm to execute tasks;

[0014] Both the airborne measurement and control terminal and the ground measurement and control terminal include a Hardmard block encryption and compression module, which is used to implement the encryption and compression of the original data and the restoration of the encrypted and compressed data.

[0015] Preferably, the Hardmard block encryption and compression module consists of a hardware part and a software part; the airborne measurement and control terminal further includes a communication networking link, a collaborative control device, and a flight control computer;

[0016] The hardware part includes a main controller, a memory, and a communication module, which are used to realize the interconnection and data transceiver with the communication networking link and the collaborative control device, and support the operation of the software part;

[0017] The software part encrypts and compresses the original data from the nodes and restores the encrypted and compressed data from the communication link based on the Hardmard block encryption and compression algorithm.

[0018] Preferably, the Hardmard block encryption and compression algorithm specifically includes:

[0019] (1) Divide the original data into uncompressed data and compressible data;

[0020] (2) For the uncompressed data, when encrypting, use the first Hardmard matrix for encryption calculation; when restoring, use the transpose of the first Hardmard matrix for decryption;

[0021] (3) For the compressible data, when encrypting and compressing, perform a sparse transformation on the Hardmard matrix according to the compression ratio requirement to obtain a second sparse Hardmard matrix, and perform encryption and compression calculation; when restoring, use the transpose of the second sparse Hardmard matrix for restoration.

[0022] Preferably, the design rule of the first Hardmard matrix is: adopt the time-varying principle, design the sorting rule of the Hardmard matrix according to the frame number of the uncompressed data, and realize the regular frame-by-frame Hardmard matrix order change.

[0023] Preferably, the design rule of the second sparse Hardmard matrix is: perform feature analysis according to the different sources and information types of the compressible data, and select different fixed sorting Hardmard matrices and compression ratios for the compressible data of each information type respectively.

[0024] Preferably, the uncompressed data includes collaborative control information and flight state information; the compressible data includes sensor state information, payload information, and image information.

[0025] Preferably, the airborne measurement and control terminal further includes a communication networking link, a cooperative control device, and a flight control computer.

[0026] Preferably, the communication networking link is used to realize data transmission between all nodes, the cooperative control device is used to realize the coordination and cooperation and task management among the UAVs, and the flight control computer is used to control and manage the flight actions of each UAV.

[0027] Preferably, the ground measurement and control terminal further includes a communication networking link and a ground control station.

[0028] 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 UAV swarm, and set a corresponding command sending mechanism for the command and control of the UAV swarm.

[0029] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0030] 1. The UAV swarm measurement and control communication system based on Hardmard block encryption and compression proposed by the present invention reduces the demand of the UAV swarm for measurement and control communication resources by adopting the data compression method, and can access more UAV nodes under the same capacity, realizing the construction of a large-scale UAV swarm system.

[0031] 2. The UAV swarm measurement and control communication system based on Hardmard block encryption and compression proposed by the present invention can perform partition compression on data during the data compression process, ensure lossless encryption of key information, and adopt associated encryption and compression for other information.

[0032] 3. The UAV swarm measurement and control communication system based on Hardmard block encryption and compression proposed by the present invention adopts the Hardmard block encryption and compression algorithm, whose calculation process is simple, easy to implement, has low requirements for hardware resources, can realize the integration of the encryption and compression process, and can be realized on low-power and small-scale integrated circuits.

[0033] 4. The UAV swarm measurement and control communication system based on Hardmard block encryption and compression proposed by the present invention runs independently in the Hardmard block encryption and compression module during the encryption and compression process, has a simple connection with external communication devices, can be matched with devices of various different communication systems such as traditional data links, self-organizing networks, and satellite networks, and realizes the remote measurement and control of the UAV swarm. Description of the Drawings

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required for the embodiments. By referring to the accompanying drawings, the features and advantages of the present invention can be more clearly understood. The accompanying drawings are schematic and should not be construed as imposing any limitations on the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0035] Figure 1 This is the overall composition diagram of the UAV swarm measurement and control communication system based on Hardmard block encryption and compression proposed by the present invention.

[0036] Figure 2 This is the hardware composition diagram of the Hardmard block encryption and compression module.

[0037] Figure 3 This is the data flow schematic diagram of the Hardmard block encryption and compression module.

[0038] Figure 4 This is the block diagram of the software part composition of the Hardmard block encryption and compression module.

[0039] Figure 5 This is the working flow chart of the Hardmard block encryption and compression algorithm for encrypting and compressing the original data.

[0040] Figure 6 This is the working flow chart of the Hardmard block encryption and compression algorithm for restoring the encrypted and compressed data. Specific embodiments

[0041] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0042] Many specific details are set forth in the following description in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited by the specific embodiments disclosed below.

[0043] The UAV swarm measurement and control communication system based on Hardmard block encryption and compression proposed by the present invention consists of an airborne measurement and control terminal and a ground measurement and control terminal, as Figure 1 shown. In some embodiments, one ground measurement and control terminal and multiple airborne measurement and control terminals use a communication networking link to cooperate in networking to achieve cooperative measurement and control communication between air and ground and between aircraft.

[0044] The airborne measurement and control terminal is the measurement and control core on each unmanned aerial vehicle (UAV) in the UAV swarm. Its main functions are to share and transmit the flight state information of the UAV swarm, and to transmit the cooperative control information between UAVs. The internal components of the airborne measurement and control terminal mainly include: communication networking links, Hardmard block encryption and compression module, cooperative 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 block encryption and compression module is used to realize the encryption and compression of the original data and the restoration of the encrypted and compressed data; the cooperative control equipment is used to realize the coordination and cooperation between UAVs and task management, which not only needs to generate cooperative data between UAVs, but also needs to control the local task instructions of the flight control computer; the flight control computer is used to control and manage the flight actions of each UAV.

[0045] The ground measurement and control terminal is the measurement and control core for the ground command, control and management of the UAV swarm. Its main function is to analyze the flight state information of the UAV swarm to obtain the global state of the UAV swarm, and to issue cooperative control information to the UAV swarm to control the UAV swarm to execute tasks. The internal components of the ground measurement and control terminal mainly include: communication networking links, Hardmard block encryption and 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 UAV swarm, and set a corresponding instruction sending mechanism for the command and control of the UAV swarm; the functions of the communication networking link and the Hardmard block encryption and compression module are the same as those on the airborne measurement and control terminal.

[0046] In the airborne measurement and control terminal and the ground measurement and control terminal, the Hardmard block encryption and compression module is the core module for the encryption and compression calculation of the original data and the restoration of the encrypted and compressed data, including the hardware part and the software part.

[0047] The hardware part consists of a main controller, memories (FLASH and SDRAM), and a communication module, which is used to realize the interconnection and data transceiver with the communication networking link and the cooperative control equipment, and support the operation of the software part. Its internal hardware structure is as Figure 2 shown.

[0048] The software part mainly performs encryption and compression operations to implement the encryption and compression process with relatively low computing resources. Its core is to use the Hardmard block encryption and 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 showing the data flow in the calculation process.

[0049] The Hardmard block encryption and compression algorithm adopts the method of block encryption and compression. Specifically, the original data is divided into non-compressible data and compressible data for separate encryption and compression and combination, as Figure 4As shown in the figure. Among them, the uncompressed data mainly refers to small-capacity reliable transmission data such as cooperative control information and flight state information; the compressible data mainly refers to large-capacity real-time transmission data such as sensor state information, payload information, and image information. After completing the data classification, the Hardmard block encryption and compression algorithm is used to perform corresponding encryption and compression processing on the classified data. For uncompressed 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 performing encryption and compression, the Hardmard matrix is sparsely transformed according to the compression ratio requirement to obtain the second sparse Hardmard matrix, and encryption and compression calculation are performed; when restoring, the transpose of the second sparse Hardmard matrix is used for restoration.

[0050] To improve the encryption performance without increasing the complexity, variable-order operations with different rules are performed on the Hardmard matrices of uncompressed data and compressed data.

[0051] For uncompressed data, the time-varying principle is adopted, and the sorting rule of the Hardmard matrix is designed according to the frame number of the TT&C communication data to achieve regular frame-by-frame variable order of the Hardmard matrix. There are various ways to generate the Hardmard matrix corresponding to each frame number. A relatively simple way is that frame number 0 corresponds to the original Hardmard matrix, and for each increment of the frame number by 1, the first row of the Hardmard matrix is moved to the last row to generate a new Hardmard matrix.

[0052] For compressible data, feature analysis is performed according to the different sources and information types of the compressible data, and different fixed-sorting Hardmard matrices and compression ratios are selected for the compressible data of each information type. During the implementation process, the method of maintaining a variable-order Hardmard matrix for each information type can be adopted.

[0053] The specific encryption and compression process and restoration process are as Figure 5 and Figure 6 shown. First, the original data from the node is encrypted and compressed, and the specific steps are as follows:

[0054] Step A-1: Obtain the original data;

[0055] Step A-2: Determine whether the original data is compressible data. If so, execute Step A-3; otherwise, execute Step A-7;

[0056] Step A-3: Identify the information type number;

[0057] Step A-4: Select the Hardmard matrix for calculation according to the information type number;

[0058] Step A-5: Perform sparse transformation on the Hardmard matrix according to the compression ratio requirement to obtain the second sparse Hardmard matrix;

[0059] Step A-6: Use the second sparse Hardmard matrix to calculate the original data to obtain encrypted and compressed data, and enter Step A-10;

[0060] Step A-7: Identify the frame sequence number;

[0061] Step A-8: Select the Hardmard matrix for calculation according to the frame sequence number;

[0062] Step A-9: Perform encryption calculation using the Hardmard matrix to obtain encrypted data;

[0063] Step A-10: Perform frame header identification encoding on the obtained encrypted data or encrypted and compressed data, and send it to the communication networking link.

[0064] Perform encryption and compression on the encrypted and compressed data from the communication networking link. The specific steps are as follows:

[0065] B-1: Obtain the encrypted and compressed data

[0066] B-2: Determine whether the encrypted and compressed data is compressible data. If so, execute Step B-3; otherwise, execute Step B-7

[0067] B-3: Identify the information type number;

[0068] B-4: Select the Hardmard matrix for calculation according to the information type number;

[0069] B-5: Perform sparse transformation on the Hardmard matrix according to the compression ratio to obtain the second sparse Hardmard matrix;

[0070] B-6: Use the transpose of the second sparse Hardmard matrix to perform calculation to obtain the original data, and enter Step B-10;

[0071] B-7: Identify the frame sequence number;

[0072] B-8: Select the Hardmard matrix for calculation according to the frame sequence number;

[0073] B-9: Use the transpose of the Hardmard matrix to perform calculation to obtain the original data, and enter Step B-9;

[0074] B-10: Obtain the original data and perform encoding to obtain the original data packet;

[0075] B-11: Send the original data packet to the cooperative control device or the ground control station.

[0076] In summary, the UAV swarm measurement and control communication system based on Hardmard block encryption and compression proposed by the present invention uses the Hardmard block encryption and compression module as the core to realize the cooperative measurement and control communication of the UAV swarm. It can be connected to the traditional uncompressed encrypted measurement and control system in a simple way for transformation and upgrading, so as to realize the reliable and secure measurement and control communication of the UAV swarm under limited communication bandwidth resources.

[0077] In the present invention, unless otherwise clearly defined and limited, terms such as "install", "connect", "connection", "fix" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0078] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "under", "below" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is at a lower horizontal height than the second feature.

[0079] In the present invention, the terms "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. The term "plural" means two or more, unless otherwise clearly defined.

[0080] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within 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 packet encryption compression module, which is used to realize encryption and compression of original data and restoration of encrypted and compressed data; 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; 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.

2. The UAV swarm measurement, control and communication system according to claim 1, 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.

3. The UAV swarm measurement, control and communication system according to claim 2, 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.

4. The UAV swarm measurement, control and communication system according to claim 1, 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.

5. The UAV swarm measurement, control and communication system according to claim 1, 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.

6. 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.

7. The UAV swarm measurement, control and communication system according to claim 6, 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 corresponding command sending mechanism for the command and control of the drone swarm.

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