Aircraft control method and device based on switching chaotic system encryption and medium

Abstract

The invention discloses an aircraft control method and device based on switching chaotic system encryption and a medium, and relates to the field of data encryption, and the method comprises the steps: injecting plaintext data corresponding to measurement data sent by a sensitive device into an output equation of a chaotic system, and obtaining corresponding ciphertext data; obtaining a corresponding switching signal according to the chaotic system state variable of the basic judgment model, and switching the currently activated second chaotic system according to the switching signal; sending the ciphertext data to a control component to obtain plaintext data corresponding to the measurement data; and performing flight control on the aircraft. The characteristic that a chaotic nonlinear system is extremely sensitive to an initial value is utilized, and an encryption algorithm based on a switching chaotic system is designed and used for unmanned aerial vehicle control. According to a designed switching strategy, a switching encryption chaotic system is introduced into an encryption algorithm, so that a key stream is more random, and the security of aircraft measurement data encryption is improved.

Description

Technical Field

[0001] The present application relates to the field of data encryption, and in particular to an aircraft control method, device and medium based on switched chaotic system encryption. Background Art

[0002] As a new type of aircraft that combines the high-speed cruise of fixed wings with the flexible take-off and landing characteristics of rotors, the complexity of the technical background and the industry challenges of vertical take-off and landing fixed-wing aircraft (VTOL-FW) are mainly reflected in the contradictions between safety, real-time performance and adaptability to dynamic environments. At present, the technological development in this field is facing dual pressures: on the one hand, the rapid penetration of military and civilian scenarios requires aircraft to maintain reliable control in complex electromagnetic environments and highly dynamic airspace; on the other hand, traditional security architectures are difficult to meet the real-time encryption requirements of aircraft during the mode switching phase, resulting in a significant expansion of the attack surface. According to the Avionics Security White Paper, 34% of successful malicious attacks are concentrated in the take-off and landing phase, and 70% of the attacks are achieved by reverse engineering to crack unencrypted measurement data, highlighting the fatal flaw of traditional communication protocols that rely only on basic verification mechanisms.

[0003] The limitations of encryption technology in traditional solutions further exacerbate security risks. For example, general algorithms such as AES-256 perform well in data confidentiality, but their millisecond computing delays make it difficult to meet the stringent requirements for real-time measurement feedback during the transitional flight phase (this requirement usually needs to be less than 50ms), especially in critical actions such as tilt-rotor or thrust vector adjustment. Encryption delays may cause attitude instability or even crashes. What's more serious is that the communication frequency jumps and topology reorganization caused by the aircraft during multi-modal flight cause the traditional static key distribution mechanism to frequently fail. Therefore, although traditional commercial flight control systems use full-link encryption, due to the lack of differentiated protection, the risk of system crashes in the face of selective replay attacks is still high.

[0004] In some traditional solutions, there are drones that compress the AES-256 processing time to 60ms through hardware acceleration modules, but it is still difficult to meet the needs of the transition stage; in other solutions, quantum key distribution (QKD) technology is used. Although it theoretically has the advantage of anti-cracking, it is limited by the deployment cost of quantum repeaters and is only suitable for fixed route scenarios; in other solutions, a lightweight national secret algorithm is used to reduce the encryption delay to 35ms, but the lack of a dynamic key update mechanism leads to a surge in the bit error rate in frequency hopping scenarios; in other solutions, the innovative use of instruction signature verification technology can resist replay attacks, but the 80ms signature generation time causes control loop delays.

[0005] Based on this, simple optimization algorithms or hardware in traditional solutions are difficult to systematically solve the problem of balancing security and real-time performance. Summary of the invention

[0006] To solve the above problems, the present application proposes an aircraft control method based on switched chaotic system encryption, including: Determine multiple set chaotic systems, and inject the plaintext data corresponding to the measurement data sent by the sensitive device into the output equation of the chaotic system to obtain the corresponding ciphertext data; Select a first chaotic system from the multiple chaotic systems as the basic decision model, obtain the corresponding switching signal according to the chaotic system state variables of the basic decision model, and switch the currently activated second chaotic system according to the switching signal; Send the ciphertext data to the control component, run the basic decision model based on the key to determine the currently activated second chaotic system according to the switching signal, and obtain the plaintext data corresponding to the measurement data according to the output equation of the second chaotic system and the key; Perform flight control on the aircraft according to the measurement data.

[0007] In one example, obtaining the corresponding switching signal according to the chaotic system state variables of the basic decision model and switching the currently activated chaotic system according to the switching signal specifically includes: Set the initial value of the chaotic system state variables of the basic decision model; Among the chaotic system state variables, determine the specified state variable used to represent the convection intensity, and obtain the corresponding switching signal based on the value of the specified state variable and the preset range interval; Determine the range interval hit by the value of the specified state variable, and activate the chaotic system corresponding to the range interval.

[0008] In one example, before running the basic decision model based on the key, the method further includes: Determine that the aircraft system is powered on, and based on the power-on signal, generate multiple random numbers through a random number generator, and use the random numbers as the initial values of the chaotic system state variables of the basic decision model; Send the initial values as keys to the encryption module corresponding to the sensitive device and the decryption module corresponding to the control component respectively.

[0009] In one example, performing flight control on the aircraft according to the measurement data specifically includes: Linearize the operating point of the flight control process of the aircraft to obtain a linear system; the linear system includes a measurement part composed of the measurement system state variables corresponding to the measurement data and a state matrix, and an input part composed of the control input variables corresponding to the control component and an input matrix; Output corresponding control instructions according to the linear system and the corresponding output matrix.

[0010] In one example, the method further includes: Obtain the control input variable according to the control gain parameter and the measured system state variable; wherein, the difference between the state matrix and the input matrix compensated by the control gain parameter has a real part less than 0.

[0011] In one example, injecting the plaintext data corresponding to the measurement data sent by the sensitive device into the output equation of the chaotic system to obtain corresponding ciphertext data, specifically including: Obtain the plaintext data corresponding to the measurement data sent by the sensitive device; Perform block processing on the plaintext data according to the current communication bandwidth to obtain a plurality of block data; Perform compression encoding on the metadata corresponding to the block data to obtain encoded data, and inject the block data and the corresponding encoded data into the output equations of the respective chaotic systems respectively to obtain corresponding ciphertext data.

[0012] In one example, switching the currently activated second chaotic system according to the switching signal, specifically including: Determine that the number of currently activated second chaotic systems is multiple; Switch the decryption order of the multiple currently activated second chaotic systems according to the switching signal.

[0013] In one example, running the basic determination model based on a key to determine the currently activated second chaotic system according to the switching signal, and obtaining the plaintext data corresponding to the measurement data according to the output equation of the second chaotic system and the key, specifically including: Determine that the aircraft system is powered on, and based on the power-on signal, generate a random number through a random number generator and use the random number as the main key; Derive a plurality of sub-keys from the main key; For each sub-key, assign a corresponding single chaotic system to it, divide the sub-key into multiple parts, and convert each part into a corresponding floating point number as the initial value of the chaotic system state variable of the chaotic system corresponding to the sub-key; Run the basic determination model based on the sub-key corresponding to the basic determination model to determine the decryption order of the multiple currently activated second chaotic systems according to the switching signal; According to the decryption order, sequentially obtain the block data corresponding to the second chaotic system according to the output equation of the second chaotic system and the sub-key corresponding to the second chaotic system; Combine the block data according to the decryption order to obtain the plaintext data corresponding to the measurement data.

[0014] On the other hand, the present application also proposes an aircraft control device encrypted based on a switched chaotic system, including: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the aircraft control method encrypted based on a switched chaotic system as described in any of the above examples.

[0015] On the other hand, the present application also proposes a non-volatile computer storage medium storing computer-executable instructions, and the computer-executable instructions are configured to implement the aircraft control method encrypted based on a switched chaotic system as described in any of the above examples.

[0016] The aircraft control method encrypted based on a switched chaotic system proposed by the present application can bring the following beneficial effects: Utilizing the characteristic that the chaotic nonlinear system is extremely sensitive to the initial value, a switched chaotic system encryption algorithm is designed for unmanned aircraft control. According to the designed switching strategy, a switched encryption chaotic system is introduced into the encryption algorithm, making the key stream more random and increasing the security of aircraft measurement data encryption. Applied to the encryption of aircraft measurement data, the sensitive measurement data of the aircraft is protected. Combined with the traditional state feedback control algorithm, the aircraft flight is made safer and the application in sensitive scenarios is strengthened. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application. In the drawings: Figure 1 is a schematic flowchart of the aircraft control method encrypted based on a switched chaotic system in an embodiment of the present application; Figure 2 is a schematic architecture diagram of an aircraft system in a certain situation in an embodiment of the present application; Figure 3 is a schematic flowchart of an encryption module in a certain situation in an embodiment of the present application; Figure 4 is a schematic flowchart of key distribution in a certain situation in an embodiment of the present application; Figure 5 is a schematic flowchart of a decryption module in a certain situation in an embodiment of the present application; Figure 6 Schematic diagram of the aircraft control device encrypted based on a switched chaotic system in an embodiment of the present application. Detailed implementation manners

[0018] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only a part rather than all of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0019] The following will, with reference to the drawings, detail the technical solutions provided by the embodiments of the present application.

[0020] As Figure 1 shown, the embodiment of the present application provides an aircraft control method encrypted based on a switched chaotic system, including: S101: Determine a plurality of set chaotic systems, and inject the plaintext data corresponding to the measurement data sent by the sensitive device into the output equation of the chaotic system to obtain the corresponding ciphertext data.

[0021] A chaotic system is a special dynamic system, and its core feature lies in the highly complex and seemingly random behavior exhibited under deterministic rules. A chaotic system is described by precise mathematical equations (such as differential equations or iterative maps) without random factors. The future state of the system is completely determined by the initial conditions and the evolution rules. A tiny change in the initial conditions will lead to exponentially amplified differences, making long-term prediction impossible.

[0022] As Figure 2 shown, the sensitive device may include a stable loop sensor, a navigation / guidance loop sensor, etc., for collecting the state data of the aircraft. For example, the data collected by the stable loop sensor may include: attitude angles (pitch angle, roll angle, yaw angle), angular velocities (pitch angular velocity, roll angular velocity, yaw angular velocity), accelerations (three-axis accelerations), etc. The data collected by the navigation / guidance loop sensor may include: position (longitude, latitude, altitude), speed (airspeed, ground speed), heading angle, target track deviation, etc. For the convenience of description, this data is referred to as measurement data herein.

[0023] The number of the plurality of chaotic systems can be set based on requirements, and it can be set to two, three or more. For example, the chaotic systems may include a Lorenz chaotic system and a Chen chaotic system.

[0024] The Lorenz nonlinear system is a typical chaotic system. Its dynamic equations consist of three nonlinear differential equations, and the parameters include σ (Prandtl number), ρ (Rayleigh number), and β (geometric or dissipation parameter). This system exhibits typical chaotic characteristics where small differences in initial conditions lead to exponential divergence of trajectories. Its attractor has a double-scroll structure, and its state equation is shown in Equation 1: Equation 1; where, , , is the state of the system, is the output of the system. When , , , the Lorenz system exhibits chaotic phenomena. Generally speaking, the amplitude of the Lorenz chaotic system state is within .

[0025] The Chen chaotic system has an equation form similar to that of the Lorenz system. However, by adjusting parameters and coupling terms, the Chen system exhibits more complex dynamic behaviors. For example, the attractor structure has both folding and rotation characteristics, and there are more abundant chaotic and periodic state switches within the parameter range. The state-space expression of the Chen nonlinear system can be shown in Equation 2: Equation 2; where, , , is the state of the system, is the output of the system. When , , , the Chen system exhibits chaotic phenomena.

[0026] For the Lorenz chaotic system and the Chen chaotic system, the plaintext data to be encrypted is respectively injected into the output equations of the two systems, which are shown in Equation 3 and Equation 4 respectively: For the Lorenz plaintext injection system , as shown in Equation 3: Equation 3; For the Chen plaintext injection system , as shown in Equation 4: Equation 4; At this time, the plaintext data is respectively injected into the systems and to form a switched chaotic system, as shown in Equation 5: Formula Five.

[0027] Of course, it can also be extended to multiple mixing systems for switching. For example, a Rossler chaotic system can be added on the basis of the Lorenz chaotic system and the Chen chaotic system. Of course, based on the actual situation, the added chaotic system can be changed, or new chaotic systems can continue to be added. Here, only examples are given.

[0028] The Rossler chaotic system contains only one non - linear term. Under the adjustment of its parameters, it can exhibit the mixed characteristics of spiral attractors and folded trajectories. Typical behaviors include single - scroll chaos and periodic oscillations. Due to its low - dimensional characteristics, the Rossler chaotic system is often used for the analysis of the basic mechanism of chaos. The Rossler chaotic system has a state equation as shown in Formula Six: Formula Six; where , , are the states of the system, and is the output of the system. When , , , , the Rossler system exhibits chaotic phenomena.

[0029] In addition, as Figure 2 shown, when the aircraft is disturbed, the sensitive device can transmit corresponding data to the control component to facilitate the control of the actuator (such as the control surface, thrust - vector nozzle or motor, etc.) to adjust the flight state of the aircraft.

[0030] Among them, the disturbances can include: aerodynamic disturbances, whose sources are turbulence, gusts, wake (such as the disturbance of buildings or other aircraft), which may cause attitude - angle deviation, trajectory deviation, etc.; mechanical disturbances, whose sources are actuator wear, mechanical vibration, structural deformation, which may cause a decrease in the deflection accuracy of the control surface and thrust fluctuation of the motor; electromagnetic disturbances, whose sources are lightning, high - voltage lines, electronic - device radiation, which may cause sensor - signal distortion and communication - link interruption.

[0031] When the aircraft experiences disturbances, corresponding adjustments to the flight state can be attempted to try to get rid of the disturbances.

[0032] Of course, in actual work, in addition to being disturbed, when the following situations occur, the flight state can also be adjusted.

[0033] During the flight phase transition, the flight state is adjusted. For example, when switching from the vertical takeoff and landing (VTOL) mode to the fixed-wing cruise mode, during the vertical takeoff and landing phase, the actuator (such as a multi-rotor motor) needs to provide lift, while during the fixed-wing cruise phase, the actuator (such as flaps and rudder) needs to optimize the aerodynamic efficiency. When the mission requirements change, such as from normal cruise to emergency obstacle avoidance, target tracking, or high-precision hovering, the flight state can also be adjusted. When the on-site environment changes, although it may not have been disturbed by the environment at this time, such as changes in flight altitude, atmospheric density, and temperature, corresponding flight state adjustments can also be made to better adapt to the current environment.

[0034] S102: Select a first chaotic system from the multiple chaotic systems as the basic determination model, obtain the corresponding switching signal according to the chaotic system state variables of the basic determination model, and switch the currently activated second chaotic system according to the switching signal.

[0035] The first chaotic system refers to the chaotic system selected from the multiple pre-set chaotic systems, and the second chaotic system refers to the currently activated chaotic system among the multiple pre-set chaotic systems. Among them, the number of the first chaotic systems is usually one, while the number of the second chaotic systems can be set according to the actual situation. By default, the number of the second chaotic systems is one, but its number can be adjusted based on the actual situation and actual requirements. When the number of the activated second chaotic systems is multiple, how to obtain the plaintext data will be described below.

[0036] Specifically, after selecting the basic determination model, set the initial values of the chaotic system state variables of the basic determination model.

[0037] In this application, there are various state variables. For example, the state variables inside the chaotic system include , , etc., which are called chaotic system state variables here. And for the measured data of the aircraft collected, it is called the measurement system state variable.

[0038] Among the chaotic system state variables, determine the specified state variable used to represent the convection intensity, and obtain the corresponding switching signal based on the value of the specified state variable and the pre-set range interval. According to the value of the specified state variable, determine the range interval it hits, and activate the chaotic system corresponding to the range interval. For example, take as the specified state variable. When the value of the specified state variable is in different range intervals, the switching signal is used to activate different chaotic systems.

[0039] Specifically, asFigure 3 As shown, when the Lorenz chaotic system and the Chen chaotic system are set, the switching signal can be expressed as: , which represents at time , the chaotic system or is activated.

[0040] The switching strategy of the switching signal can be based on the Lorenz chaotic system as a judgment model. Under the condition of setting the initial value of the chaotic system , judge the state of the Lorenz chaotic system . If , then , indicating that the Lorenz chaotic system is activated. If , then , indicating that the Chen chaotic system is activated. Its mathematical expression is shown in Formula Seven: Formula Seven.

[0041] When the Rossler chaotic system is added, the Lorenz chaotic system can still be used as the basic judgment model. However, the switching strategy of the switching signal needs to be updated. When the state of the Lorenz chaotic system , then ; when the state of the Lorenz chaotic system , then ; the state of the Lorenz chaotic system , then . The mathematical expression can be shown in Formula Eight: Formula Eight.

[0042] Furthermore, the chaotic encryption module (abbreviated as the encryption module) encrypts the measurement data collected by the sensitive device. It utilizes the high sensitivity and unpredictability of the chaotic sequence to achieve good encryption performance and is applicable to communication scenarios that are sensitive to initial values and require high complexity.

[0043] However, the system security also depends on the confidentiality and synchronization of the key (for example, the initial conditions and system parameters). Therefore, key distribution becomes an indispensable part of the security architecture of the chaotic encryption system. If the key distribution process is not secure, even if the encryption algorithm itself has strong chaos, the overall system is likely to fail due to key leakage. A secure and reliable key distribution mechanism not only ensures the synchronous generation of chaotic sequences by both communication parties but also prevents man-in-the-middle attacks and replay attacks, which is the basic premise for the practical application of the chaotic encryption system.

[0044] Since the chaotic sequence generated by a chaotic system is extremely sensitive to the initial value of the system, a slight perturbation of the initial value can drastically change the chaotic sequence generated by the chaotic system. Therefore, the initial value of the chaotic system can be used as the secret key for chaotic encryption.

[0045] Taking the initial value as the key, it is sent to the encryption module corresponding to the sensitive device and the decryption module corresponding to the control component respectively. In Figure 2 this, the encryption module is also called chaotic encryption, the decryption module is also called chaotic decryption, and the control component is also called the flight control computer component.

[0046] Since the switching chaotic system adopted in this scheme is used as the key stream generator, the key can be selected as .

[0047] Meanwhile, in order to enhance the system security, the dynamic synchronous key method can be adopted. Before generating the key, it is determined that the aircraft system is powered on, and based on the power-on signal, multiple random numbers are generated by a random number generator, and the random numbers are used as the initial values of the state variables of the chaotic system of the basic decision model, so as to be used for the generation of the key.

[0048] At this time, the key update strategy is encryption and decryption power-off synchronization random. As Figure 4 shown, the key distribution module uses a random number generator to distribute keys to the encryption module and the decryption module simultaneously. In engineering applications, every time the system is powered on, the random number generator randomly generates three numbers as the system initial values of the encryption module and the decryption module.

[0049] S103: Send the ciphertext data to the control component, run the basic decision model based on the key, to determine the currently activated second chaotic system according to the switching signal, and obtain the plaintext data corresponding to the measurement data according to the output equation of the second chaotic system and the key.

[0050] Since the chaotic sequence is introduced in the encryption process to perform complex non-linear transformation on the original information, the receiving end must have an effective decryption mechanism to accurately reconstruct the original data based on the known key information. The high sensitivity of the chaotic system causes that even a tiny parameter error will lead to decryption failure. Therefore, the decryption module not only needs to realize the synchronous reproduction of the chaotic sequence, but also needs to ensure a certain robustness to perturbations and noises. The lack of a decryption module will result in the inability to correctly recover the encrypted information, making the entire communication process meaningless. Therefore, designing a decryption module with high precision, strong synchronization and good robustness is the basic guarantee for the reliable application of the chaotic encryption system.

[0051] Based on this, the decryption module receives the ciphertext data After that, it is first necessary to determine the switching strategy of the chaotic system. Based on the secret key, the basic Lorenz system model is run, and the switching strategy of the chaotic system is determined by judging the magnitude of the key stream .

[0052] As Figure 5 shown, the measured plaintext is obtained by subtracting the key stream from the ciphertext. The decryption equation can be as shown in Equation Nine: Equation Nine.

[0053] S104: Perform flight control on the aircraft according to the measured data.

[0054] A vertical takeoff and landing fixed-wing aircraft is an innovative aircraft that combines the vertical takeoff and landing capabilities of a multi-rotor with the long endurance and high-speed flight characteristics of a fixed wing. Its core design realizes vertical takeoff and landing through a multi-rotor or tilt propulsion system, and then switches to the fixed-wing mode for efficient cruising. For example, a drone can adopt 16 vertical motors and 4 cruising motors, which can not only take off and land under runway-free conditions, but also fly continuously at a speed of 200 km / h for more than 1 hour, and its endurance far exceeds that of traditional multi-rotor drones. Such aircraft are widely used in fields such as traffic supervision, oilfield inspection, and large-area mapping, and their payload capacity and wind resistance performance further broaden the application scenarios. The state equation of the vertical takeoff and landing fixed-wing aircraft can be as shown in Equation Ten: Equation Ten.

[0055] Usually, a vertical takeoff and landing fixed-wing aircraft is characterized by 12 states in its dynamic and kinematic models, namely , which respectively represent position, velocity, attitude, and angular velocity. Since the states of the vertical takeoff and landing fixed-wing aircraft are coupled with each other. The dynamic system of the vertical takeoff and landing fixed-wing aircraft has strong nonlinear characteristics and is affected by factors such as aerodynamic force changes, large-scale attitude adjustments, and propulsion system coupling. Directly designing a controller for the complete nonlinear model usually faces problems such as complex modeling, difficult analysis, and unsolvable control laws.

[0056] Based on this, in order to simplify the controller design, system linearization can be selected near a specific operating point related to the flight mission. Through operating point linearization, a local linear approximation model can be obtained, enabling the application of traditional linear control theories (such as pole placement, optimal control, robust control, etc.), thereby greatly reducing the complexity of controller design and stability analysis, and at the same time facilitating efficient engineering deployment and performance verification.

[0057] Linearize the operating point of the flight control process of the aircraft to obtain a linear system; the linear system includes a measurement part composed of measurement system state variables corresponding to measurement data and a state matrix, and an input part composed of control input variables corresponding to control components and an input matrix. According to the linear system and the corresponding output matrix, output the corresponding control instructions.

[0058] Specifically, after linearizing at the operating point, the linear system description is as shown in Equation (11): Equation (11); where, , , , ; At this time, the output equation of the system is as shown in Equation (12): Equation (12); where, .

[0059] Define the encryption function as , at this time, ; and define the decryption function , at this time, .

[0060] Assume that the decryption error is 0, thus, the linearized equation of the vertical takeoff and landing fixed-wing aircraft changes as shown in Equation (13): Equation (13).

[0061] Furthermore, according to the control gain parameter and the measurement system state variable, obtain the control input variable; where the difference between the state matrix and the input matrix compensated by the control gain parameter has a real part less than 0.

[0062] Consider the state feedback control scheme , where is the control gain parameter. In the control system, state feedback can directly utilize all or part of the system state variables and, by adjusting the input in real time, achieve precise adjustment of the system's dynamic performance. Compared with the control method that only relies on output feedback, state feedback can significantly improve the stability, response speed, and robustness of the system. It can not only optimize the dynamic characteristics of the system through pole placement but also enhance the resistance to disturbances and model uncertainties. It is the basis for implementing high-performance control strategies (such as optimal control, adaptive control, and robust control). The state equation of the closed-loop control system of the vertical takeoff and landing fixed-wing aircraft is as shown in Equation (14) below: Formula XIV; During the process of adjusting the control system parameters, as long as the control gain is selected such that the real part of the eigenvalue of is less than 0, the stability of the system near the operating point can be satisfied.

[0063] Taking advantage of the extremely sensitive characteristic of the chaotic nonlinear system to the initial value, an encryption algorithm based on a switched chaotic system is designed for UAV control. According to the designed switching strategy, a switched encrypted chaotic system is introduced into the encryption algorithm to make the key stream more random and increase the security of the encrypted flight vehicle measurement data. Applied to the encryption of the flight vehicle measurement data, the sensitive measurement data of the flight vehicle is protected. Combined with the traditional state feedback control algorithm, the flight of the flight vehicle is made safer and the application of sensitive scenarios is strengthened.

[0064] In one embodiment, considering that using a single first chaotic system as the basic decision model may lead to weak anti-attack ability, once the key of the basic decision model is cracked, the system is likely to be attacked.

[0065] Based on this, it is considered to inject the plaintext data into different chaotic systems in batches, which can effectively enhance the anti-attack ability. By splitting and dispersing the data into multiple chaotic systems, the attacker needs to crack multiple systems simultaneously to obtain the complete information, significantly increasing the difficulty of the attack. And different chaotic systems (such as, Lorenz chaotic system, Chen chaotic system, Rossler chaotic system) have unique dynamic characteristics. Mixing them can avoid the risk of a single system being reverse-engineered and achieve diversified encryption.

[0066] Specifically, obtain the plaintext data corresponding to the measurement data sent by the sensitive device, and perform block processing on the plaintext data according to the current communication bandwidth to obtain multiple block data. Among them, the data block strategy can set static blocks, split the data according to a fixed length (for example, every 128 bits as a group), and poll and allocate them to different chaotic systems. It can also set dynamic blocks, and dynamically select chaotic systems according to the data content (such as, sensitive level) or environmental state (such as, flight vehicle acceleration). And set adaptive blocks, dynamically adjust the block size according to the network bandwidth, refine the blocks at high bandwidth, select as many second chaotic systems as possible for activation, and merge the blocks at low bandwidth, and select a smaller number of second chaotic systems for activation.

[0067] Compress and encode the metadata corresponding to the chunk data to obtain encoded data. For example, perform entropy encoding (such as Huffman encoding) on the metadata to reduce the overhead. The metadata may include chunk identification information of each chunk data (such as chunk sequence number, total number of chunks), encrypted routing information (such as chaos system identification, key version number), security verification information (such as timestamp, hash value), etc.

[0068] Inject the chunk data and the corresponding encoded data into the output equations of each chaos system respectively to obtain the corresponding ciphertext data. At this time, the number of chaos systems injected is the same as the number of chunk data obtained, the number of chunk data is not higher than the number of chaos systems injected, and the injected chaos systems are regarded as the activated chaos systems, which are called the second chaos systems.

[0069] At this time, it is determined that the number of currently activated second chaos systems is multiple, that is, the chaos systems into which the chunk data has been injected are the activated second chaos systems.

[0070] Switch the decryption order among the currently activated multiple second chaos systems according to the switching signal. At this time, when there is only 、 ,the switching signal is as shown in Formula 15: Formula 15; When it includes 、 、 ,the switching signal is as shown in Formula 16: Formula 16.

[0071] Among them, indicates that the decryption order is successively , and the decryption order of the switching signal in other states can be deduced by analogy. As the second chaos systems change and increase, the switching signal can adapt and change.

[0072] In the actual operation process, since the number of chunk data may be different each time, when setting multiple chaos systems, only some of the chaos systems may be selected to inject the chunk data. At this time, when injecting the chunk data, the current of each chaos system preset can be used to determine the current decryption order, and the chunk data is injected into the corresponding chaos systems successively from front to back according to this decryption order, and a corresponding end flag is added to the chunk data injected into the last chaos system corresponding to the number of chunk data.

[0073] When performing key distribution and decryption, it is determined that the aircraft system is powered on. Based on the power-on signal, a random number is generated by a random number generator, and the random number is used as the master key. Multiple sub-keys are derived from the master key. For example, a hierarchical key derivation function (HMAC-based Key Derivation Function, HKDF) is used to derive multiple sub-keys from the master key.

[0074] For each sub-key, a single chaotic system is corresponding to it, and the sub-key is split into multiple parts. Each part is converted into a corresponding floating-point number, which is used as the initial value of the chaotic system state variable of the chaotic system corresponding to the sub-key. Three parts are split and respectively converted into floating-point numbers, corresponding to σ, ρ, and β.

[0075] Based on the sub-key corresponding to the basic determination model, the basic determination model is run to determine the decryption order of multiple currently activated second chaotic systems according to the switching signal. During decryption, decryption is performed in this decryption order. After decrypting the last chaotic system, or after decrypting and recognizing the corresponding end flag, all decryption can be completed.

[0076] According to the decryption order, successively according to the output equation of the second chaotic system and the sub-key corresponding to the second chaotic system, the block data corresponding to the second chaotic system is obtained. The acquisition of this block data is similar to the acquisition process of the plaintext data in the above text. According to the decryption order, the block data is combined to obtain the plaintext data corresponding to the measurement data.

[0077] As Figure 6 shown, the present application also proposes an aircraft control device based on switched chaotic system encryption, including: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor. The instructions are executed by the at least one processor so that the at least one processor can execute the aircraft control method based on switched chaotic system encryption as described in any of the above embodiments.

[0078] The present application also proposes a non-volatile computer storage medium storing computer-executable instructions, and the computer-executable instructions are set to implement the aircraft control method based on switched chaotic system encryption as described in any of the above embodiments.

[0079] The embodiments in the present application are all described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for the relevant parts, reference can be made to the corresponding descriptions in the method embodiments.

[0080] The devices and media provided in the embodiments of the present application correspond one by one to the methods. Therefore, the devices and media also have beneficial technical effects similar to those of the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be elaborated here.

[0081] The above are only the embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. An aircraft control method based on encryption of a switched chaotic system, characterized in that Including: Determine multiple set chaotic systems, and inject the plaintext data corresponding to the measurement data sent by the sensitive device into the output equation of the chaotic system to obtain the corresponding ciphertext data; Select a first chaotic system as the basic determination model from the multiple chaotic systems, obtain the corresponding switching signal according to the chaotic system state variables of the basic determination model, and switch the currently activated second chaotic system according to the switching signal; Send the ciphertext data to the control component, run the basic determination model based on the key to determine the currently activated second chaotic system according to the switching signal, and obtain the plaintext data corresponding to the measurement data according to the output equation of the second chaotic system and the key; Perform flight control on the aircraft according to the measurement data.

2. The aircraft control method based on encryption of a switched chaotic system according to claim 1, characterized in that Obtain the corresponding switching signal according to the chaotic system state variables of the basic determination model, and switch the currently activated chaotic system according to the switching signal, specifically including: Set the initial value of the chaotic system state variables of the basic determination model; Among the chaotic system state variables, determine the specified state variable used to represent the convection intensity, and obtain the corresponding switching signal based on the value of the specified state variable and the preset range interval; Determine the range interval hit by the value of the specified state variable, and activate the chaotic system corresponding to the range interval.

3. The aircraft control method based on encryption of a switched chaotic system according to claim 2, wherein, Before running the basic determination model based on the key, the method further includes: Determine that the aircraft system is powered on, generate multiple random numbers through a random number generator based on the power-on signal, and use the random numbers as the initial values of the chaotic system state variables of the basic determination model; Send the initial values as keys to the encryption module corresponding to the sensitive device and the decryption module corresponding to the control component respectively.

4. The aircraft control method based on encryption of a switched chaotic system according to claim 1, wherein, Perform flight control on the aircraft according to the measurement data, specifically including: Linearize the operating point of the flight control process of the aircraft to obtain a linear system; the linear system includes a measurement part composed of the measurement system state variables corresponding to the measurement data and a state matrix, and an input part composed of the control input variables corresponding to the control component and an input matrix; Output the corresponding control instruction according to the linear system and the corresponding output matrix.

5. The aircraft control method based on encryption of a switched chaotic system according to claim 4, characterized in that, The method further includes: Obtain the control input variable according to the control gain parameter and the measurement system state variable; wherein, the difference between the state matrix and the input matrix compensated by the control gain parameter has a real part less than 0.

6. The aircraft control method based on encryption of a switched chaotic system according to claim 1, wherein, Inject the plaintext data corresponding to the measurement data sent by the sensitive device into the output equation of the chaotic system to obtain the corresponding ciphertext data, specifically including: Obtain the plaintext data corresponding to the measurement data sent by the sensitive device; Perform block processing on the plaintext data according to the current communication bandwidth to obtain multiple block data; Perform compression encoding on the metadata corresponding to the block data to obtain encoded data, and inject the block data and the corresponding encoded data into the output equations of the respective chaotic systems respectively to obtain the corresponding ciphertext data.

7. The aircraft control method based on encryption of a switched chaotic system according to claim 6, characterized in that, Switch the currently activated second chaotic system according to the switching signal, specifically including: Determine that the number of currently activated second chaotic systems is multiple; Switch the decryption order of the multiple currently activated second chaotic systems according to the switching signal.

8. The aircraft control method based on encryption of a switched chaotic system according to claim 7, characterized in that, Run the basic determination model based on the key to determine the currently activated second chaotic system according to the switching signal, and obtain the plaintext data corresponding to the measurement data according to the output equation of the second chaotic system and the key, specifically including: Determine that the aircraft system is powered on, generate a random number through a random number generator based on the power-on signal, and use the random number as the main key; Derive multiple sub-keys from the main key; For each sub-key, assign it to a corresponding single chaotic system, divide the sub-key into multiple parts, convert each part into a corresponding floating point number, and use it as the initial value of the chaotic system state variable of the chaotic system corresponding to the sub-key; Run the basic determination model based on the sub-key corresponding to the basic determination model to determine the decryption order of the multiple currently activated second chaotic systems according to the switching signal; According to the decryption order, sequentially obtain the block data corresponding to the second chaotic system according to the output equation of the second chaotic system and the sub-key corresponding to the second chaotic system; According to the decryption order, combine the block data to obtain the plaintext data corresponding to the measurement data.

9. An aircraft control device based on encryption of a switched chaotic system, characterized in that, Including: At least one processor; And, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the aircraft control method based on switched chaotic system encryption as described in any one of claims 1 to 8.

10. A non-volatile computer storage medium stores computer-executable instructions, characterized in that, The computer-executable instructions are set to implement the aircraft control method based on switched chaotic system encryption as described in any one of claims 1 to 8.

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