Aircraft control method, device and medium based on switched chaotic system encryption

Abstract

The present application discloses an aircraft control method, device, and medium based on switched chaotic system encryption, which relates to the field of data encryption. The method includes: injecting the plaintext data corresponding to the measurement data emitted by a sensitive device into the output equation of the chaotic system to obtain the corresponding ciphertext data; obtaining the corresponding switching signal based on 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 the control component to obtain the plaintext data corresponding to the measurement data; and performing flight control on the aircraft. Taking advantage of the fact that chaotic nonlinear systems are extremely sensitive to initial values, an encryption algorithm based on switched chaotic systems is designed for drone control. According to the designed switching strategy, a switched encryption chaotic system is introduced into the encryption algorithm to make the key stream more random, thereby increasing the security of the aircraft measurement data encryption.

Description

Technical Field

[0001] The present application relates to the field of data encryption, and specifically 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 cruising capabilities of fixed-wing aircraft with the flexible takeoff and landing characteristics of rotary-wing aircraft, the technical complexity and industry challenges of vertical take-off and landing fixed-wing aircraft (VTOL-FW) are primarily reflected in the contradictions between safety, real-time performance, and adaptability to dynamic environments. Currently, 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 struggle to meet the real-time encryption requirements of aircraft during mode switching, significantly expanding the attack surface. According to the Avionics Security White Paper, 34% of successful malicious attacks occur during take-off and landing, and 70% of attacks are achieved by reverse engineering unencrypted measurement data, highlighting the fatal flaw of traditional communication protocols that rely solely on basic verification mechanisms.

[0003] The limitations of encryption technology in traditional solutions further exacerbate security risks. For example, general-purpose algorithms like AES-256 excel in data confidentiality, but their millisecond-level computational latency makes it difficult to meet the stringent requirements for real-time measurement feedback during transitional flight (typically less than 50ms). This is especially true during critical maneuvers such as tilt-rotor or thrust vectoring adjustments, where encryption delays can lead to attitude instability or even crashes. More seriously, the communication frequency hopping and topology reorganization caused by aircraft operating in multimodal flight frequently render traditional static key distribution mechanisms ineffective. Therefore, while traditional commercial flight control systems employ full-link encryption, the lack of differentiated protection leaves them at high risk of system crashes in the face of selective replay attacks.

[0004] In some traditional solutions, drones use hardware acceleration modules to compress the AES-256 processing time to 60ms, but this still cannot meet the needs of the transition phase; there are also solutions that use quantum key distribution (QKD) technology, which theoretically has the advantage of anti-cracking, but is limited by the deployment cost of quantum repeaters and is only applicable to fixed-route scenarios; there are also solutions that use lightweight national secret algorithms to reduce encryption delays to 35ms, but the lack of a dynamic key update mechanism leads to a surge in bit error rates in frequency hopping scenarios; there are also solutions that innovatively use instruction signature verification technology, which can resist replay attacks, but the 80ms signature generation time causes control loop hysteresis.

[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] In order to solve the above problems, this application proposes an aircraft control method based on switched chaotic system encryption, including:

[0007] Determine a plurality of chaotic systems that have been set up, and inject plaintext data corresponding to the measurement data emitted by the sensitive device into the output equation of the chaotic system to obtain corresponding ciphertext data;

[0008] Selecting a first chaotic system from the multiple chaotic systems as a basic determination model, obtaining a corresponding switching signal according to a chaotic system state variable of the basic determination model, and switching a currently activated second chaotic system according to the switching signal;

[0009] The ciphertext data is sent to a control component, and the basic determination model is run based on the key to determine the currently activated second chaotic system according to the switching signal, and the plaintext data corresponding to the measurement data is obtained according to the output equation of the second chaotic system and the key;

[0010] The aircraft is controlled in flight according to the measurement data.

[0011] In one example, obtaining a corresponding switching signal according to the chaotic system state variable of the basic determination model, and switching the currently activated chaotic system according to the switching signal specifically includes:

[0012] Setting the initial values of the chaotic system state variables of the basic judgment model;

[0013] Determine a designated state variable for representing convection intensity among the state variables of each chaotic system, and obtain a corresponding switching signal based on the value of the designated state variable and a preset range interval;

[0014] According to the value of the designated state variable, the range interval hit by the variable is determined, and the chaotic system corresponding to the range interval is activated.

[0015] In one example, before running the basic decision model based on the key, the method further includes:

[0016] Determining that the aircraft system is powered on, and based on the power-on signal, generating a plurality of random numbers through a random number generator, and using the random numbers as initial values of the chaotic system state variables of the basic determination model;

[0017] The initial value is used as a key and sent to the encryption module corresponding to the sensitive device and the decryption module corresponding to the control component respectively.

[0018] In one example, performing flight control on an aircraft based on the measurement data specifically includes:

[0019] Linearizing the operating points of the flight control process of the aircraft to obtain a linear system; the linear system includes a measurement part consisting of a measurement system state variable and a state matrix corresponding to the measurement data, and an input part consisting of a control input variable and an input matrix corresponding to the control component;

[0020] According to the linear system and the corresponding output matrix, the corresponding control instructions are output.

[0021] In one example, the method further includes:

[0022] The control input variable is obtained according to the control gain parameter and the measurement system state variable; wherein the difference between the state matrix and the input matrix after compensation by the control gain parameter has a real part less than 0.

[0023] In one example, the plaintext data corresponding to the measurement data sent by the sensitive device is injected into the output equation of the chaotic system to obtain the corresponding ciphertext data, specifically including:

[0024] Obtaining plaintext data corresponding to measurement data sent by sensitive devices;

[0025] According to the current communication bandwidth, the plaintext data is processed into blocks to obtain a plurality of block data;

[0026] The metadata corresponding to the block data is compressed and encoded to obtain encoded data, and the block data and the corresponding encoded data are respectively injected into the output equation of each chaotic system to obtain corresponding ciphertext data.

[0027] In one example, switching the currently activated second chaotic system according to the switching signal specifically includes:

[0028] determining that the number of currently activated second chaotic systems is a plurality;

[0029] The decryption order in the currently activated plurality of second chaotic systems is switched according to the switching signal.

[0030] In one example, running the basic determination model based on the key to determine the currently activated second chaotic system according to the switching signal, and obtaining plaintext data corresponding to the measurement data according to the output equation of the second chaotic system and the key, specifically includes:

[0031] Determining that the aircraft system is powered on, and based on the power-on signal, generating a random number through a random number generator, and using the random number as a master key;

[0032] Deriving multiple subkeys based on the master key;

[0033] For each subkey, a single chaotic system is corresponding to it, and the subkey is divided into multiple parts, and each part is converted into a corresponding floating point number as the initial value of the chaotic system state variable of the chaotic system corresponding to the subkey;

[0034] running the basic determination model based on the subkey corresponding to the basic determination model to determine a decryption order of the plurality of second chaotic systems currently activated according to the switching signal;

[0035] Obtaining the block data corresponding to the second chaotic system according to the output equation of the second chaotic system and the subkey corresponding to the second chaotic system in the decryption order;

[0036] The block data are combined according to the decryption order to obtain plaintext data corresponding to the measurement data.

[0037] On the other hand, the present application also proposes an aircraft control device based on switched chaotic system encryption, comprising:

[0038] at least one processor; and,

[0039] a memory communicatively connected to the at least one processor; wherein,

[0040] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the aircraft control method based on switching chaotic system encryption as described in any of the above examples.

[0041] On the other hand, the present application also proposes a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured to implement an aircraft control method based on switched chaotic system encryption as described in any of the above examples.

[0042] The aircraft control method based on switched chaotic system encryption proposed in this application can bring the following beneficial effects:

[0043] Leveraging the extreme sensitivity of chaotic nonlinear systems to initial values, an encryption algorithm based on a switching chaotic system was designed for drone control. Based on the designed switching strategy, the switching chaotic system was introduced into the encryption algorithm, making the key stream more random and enhancing the security of aircraft measurement data encryption. This application to aircraft measurement data encryption protects sensitive aircraft measurement data. Combined with traditional state feedback control algorithms, this algorithm improves flight safety and enhances its application in sensitive scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] 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 on the present application. In the drawings:

[0045] Figure 1 Schematic diagram of the flow of an aircraft control method based on switching chaotic system encryption in an embodiment of the present application;

[0046] Figure 2 This is a schematic diagram of the architecture of an aircraft system in one scenario in an embodiment of the present application;

[0047] Figure 3 This is a flow chart of the encryption module in one scenario in an embodiment of the present application;

[0048] Figure 4 This is a schematic diagram of the key distribution process in one scenario in an embodiment of the present application;

[0049] Figure 5 This is a flowchart of a decryption module in one scenario in an embodiment of the present application;

[0050] Figure 6 Schematic diagram of an aircraft control device based on switched chaotic system encryption in an embodiment of the present application. DETAILED DESCRIPTION

[0051] To make the purpose, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the specific embodiments of this application and the corresponding drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0052] The following describes in detail the technical solutions provided by various embodiments of the present application in conjunction with the accompanying drawings.

[0053] like Figure 1 As shown, the embodiment of the present application provides an aircraft control method based on switching chaotic system encryption, including:

[0054] S101: Determine a plurality of chaotic systems that have been set up, and inject 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.

[0055] A chaotic system is a special type of dynamical system characterized by highly complex, seemingly random behavior exhibited under deterministic rules. Chaotic systems are described by precise mathematical equations (such as differential equations or iterative maps) and contain no random factors. The system's future state is completely determined by its initial conditions and the rules governing its evolution. Small changes in initial conditions can lead to exponentially larger differences, making long-term prediction impossible.

[0056] like Figure 2 As shown, sensitive devices may include stabilization loop sensors and navigation / guidance loop sensors, which are used to collect aircraft status data. For example, data collected by the stabilization loop sensors may include attitude angles (pitch, roll, and yaw), angular velocities (pitch, roll, and yaw), and accelerations (three-axis acceleration). Data collected by the navigation / guidance loop sensors may include position (longitude, latitude, and altitude), velocity (airspeed and ground speed), heading angle, and target track deviation. For ease of description, this data is referred to herein as measurement data.

[0057] The number of the plurality of chaotic systems can be set based on demand, and can be set to two, three, or more. For example, the chaotic system can include a Lorenz chaotic system and a Chen chaotic system.

[0058] The Lorenz nonlinear system is a typical chaotic system. Its dynamical equations consist of three nonlinear differential equations, with parameters including σ (Prandtl number), ρ (Rayleigh number), and β (geometric or dissipative parameter). This system exhibits the typical chaotic characteristic of exponential trajectory divergence caused by small differences in initial conditions. Its attractor is a double-scroll structure, and its state equation is shown in Equation 1:

[0059] Formula 1;

[0060] in, , , is the state of the system, is the output of the system. , , When , the Lorenz system shows chaotic phenomenon. Generally speaking, the state of the Lorenz chaotic system is The amplitude is .

[0061] The equation form of the Chen chaotic system is similar to that of the Lorenz system, but by adjusting the parameters and coupling terms, the Chen system exhibits more complex dynamic behavior. For example, the attractor structure has both folding and rotation characteristics, and there are more diverse chaotic and periodic state switching within the parameter range. The state space expression of the Chen nonlinear system can be shown as Equation 2:

[0062] Formula 2;

[0063] in, , , is the state of the system, is the output of the system. , , When , the Chen system shows chaotic phenomenon.

[0064] For the Lorenz chaotic system and the Chen chaotic system, the plaintext data to be encrypted is injected into the output equations of the two systems, as shown in Formula 3 and Formula 4 respectively:

[0065] Targeting Lorenz plaintext injection systems , as shown in Formula 3:

[0066] Formula 3;

[0067] Targeting Chen's plaintext injection system , as shown in Formula 4:

[0068] Formula 4;

[0069] At this time, the plaintext data is injected into the system respectively and The switching chaotic system is formed as shown in Formula 5:

[0070] Formula 5.

[0071] Of course, it is also possible to expand the switching between multiple chaotic systems. For example, the Rossler chaotic system can be added on top of the Lorenz chaotic system and the Chen chaotic system. Of course, it is also possible to modify the added chaotic systems or continue to add new chaotic systems based on actual conditions. This is just an example.

[0072] The Rossler chaotic system contains only one nonlinear term. Under parameter adjustment, it can show the mixed characteristics of spiral attractor and folding trajectory. Typical behaviors include single vortex chaos and periodic oscillation. The Rossler chaotic system is often used to analyze the basic mechanism of chaos due to its low-dimensional characteristics. The state equation is shown in Formula 6:

[0073] Formula 6;

[0074] in, , , is the state of the system, is the output of the system. , , , When , the Rossler system exhibits chaotic phenomena.

[0075] In addition, if Figure 2 As shown, when the aircraft is disturbed, the corresponding data can be transmitted to the control component through the sensitive device 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.

[0076] Interference can include: aerodynamic interference, which comes from turbulence, gusts, wake (for example, disturbances from buildings or other aircraft), which may cause attitude angle deviation, trajectory offset, etc.; mechanical interference, which comes from actuator wear, mechanical vibration, and structural deformation, which may cause reduced control surface deflection accuracy and motor thrust fluctuations; electromagnetic interference, which comes from lightning, high-voltage lines, and electronic equipment radiation, which may cause sensor signal distortion and communication link interruption.

[0077] When the aircraft experiences interference, it can attempt to adjust the flight state accordingly to try to get rid of the interference.

[0078] Of course, in actual work, in addition to interference, the flight status can also be adjusted when the following situations occur.

[0079] Adjustments to the flight state are made during flight phase transitions, for example, switching from vertical take-off and landing (VTOL) mode to fixed-wing cruise mode. In the vertical take-off and landing phase, actuators (such as multi-rotor motors) need to provide lift, while in the fixed-wing cruise phase, actuators (such as flaps and rudders) need to optimize aerodynamic efficiency. Flight state adjustments can also be made when mission requirements change, such as switching from conventional cruise to emergency obstacle avoidance, target tracking, or high-precision hovering. When the on-site environment changes, the aircraft may not be affected by environmental interference at this time, such as changes in flight altitude, atmospheric density, and temperature, but corresponding flight state adjustments can still be made to better adapt to the current environment.

[0080] S102: Selecting a first chaotic system from the multiple chaotic systems as a basic determination model, obtaining a corresponding switching signal according to a chaotic system state variable of the basic determination model, and switching a currently activated second chaotic system according to the switching signal.

[0081] The first chaotic system refers to a chaotic system selected from multiple already configured chaotic systems, while the second chaotic system refers to the currently activated chaotic system from among the multiple already configured chaotic systems. The number of first chaotic systems is typically one, while the number of second chaotic systems can be set based on actual circumstances. By default, the number of second chaotic systems is one, but this number can be adjusted based on actual circumstances and actual needs. When multiple second chaotic systems are activated, the following describes how to retrieve plaintext data.

[0082] Specifically, after the basic determination model is selected, the initial values of the chaotic system state variables of the basic determination model are set.

[0083] In this application, there are multiple state variables, for example, state variables within the chaotic system, including 、 、 etc., which are referred to as chaotic system state variables. The measurement data collected from the aircraft are referred to as measurement system state variables.

[0084] Among the state variables of each chaotic system, the designated state variable used to represent the convection intensity is determined, and the corresponding switching signal is obtained based on the value of the designated state variable and the pre-set range interval. According to the value of the designated state variable, the range interval it hits is determined, and the chaotic system corresponding to the range interval is activated. For example, As a designated state variable, when the value of the designated state variable is in different ranges, the switching signal is used to activate different chaotic systems.

[0085] Specifically, if Figure 3 As shown in Figure 2, when a Lorenz chaotic system and a Chen chaotic system are set, the switching signal can be expressed as: , which means at time , chaotic system or is activated.

[0086] Switching signal The switching strategy can be based on the Lorenz chaotic system to determine the model, and then set the initial value of the chaotic system Under these conditions, the state of the Lorenz chaotic system is determined. ,if ,but , indicating that the Lorenz chaotic system is activated, if ,but , indicating that the Chen chaotic system is activated. Its mathematical expression is shown in Formula 7:

[0087] Formula 7.

[0088] When the Rossler chaotic system is added, the Lorenz chaotic system can still be used as the basic judgment model, but the switching signal The switching strategy needs to be updated.

[0089] When the state of the Lorenz chaotic system ,but ; When the state of the Lorenz chaotic system ,but ; The state of the Lorenz chaotic system ,but The mathematical expression can be shown as formula 8:

[0090] Formula 8.

[0091] Furthermore, a chaotic encryption module (referred to as the encryption module for short) encrypts the measurement data collected by sensitive devices. It utilizes the high sensitivity and unpredictability of chaotic sequences to achieve good encryption performance, and is suitable for communication scenarios that are sensitive to initial values and require high complexity.

[0092] However, system security also relies on the confidentiality and synchronization of keys (e.g., initial conditions and system parameters). Therefore, key distribution is an essential component of the security architecture of chaotic cryptographic systems. If the key distribution process is insecure, even if the encryption algorithm itself is highly chaotic, key leakage can easily lead to system failure. A secure and reliable key distribution mechanism not only ensures the synchronous generation of chaotic sequences by both communicating parties but also prevents man-in-the-middle and replay attacks, making it a fundamental prerequisite for the practical application of chaotic cryptographic systems.

[0093] Since the chaotic sequence generated by a chaotic system is extremely sensitive to the system's initial value, 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.

[0094] The initial value is used as the key and sent to the encryption module corresponding to the sensitive device and the decryption module corresponding to the control component. Figure 2 In the system, the encryption module is also called chaotic encryption, the decryption module is also called chaotic decryption, and the control component is also called flight control computer component.

[0095] Since this scheme uses a switching chaotic system as the key stream generator, the key can be selected as .

[0096] At the same time, to increase system security, a dynamic synchronization key method can be used. Before generating the key, the aircraft system is powered on, and based on the power-on signal, a random number generator generates multiple random numbers. These random numbers are used as the initial values of the chaotic system state variables of the basic judgment model, thereby generating the key.

[0097] At this time, the key update strategy is encryption and decryption power-off synchronization random. Figure 4 As shown in Figure 1, the key distribution module uses a random number generator to distribute keys to both the encryption and decryption modules. In engineering applications, each time the system is powered on, the random number generator generates three random numbers as the system initial values for the encryption and decryption modules.

[0098] S103: Send the encrypted data to the control component, run the basic judgment 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.

[0099] Because the encryption process introduces a chaotic sequence that performs complex nonlinear transformations on the original information, the receiver must possess an effective decryption mechanism to accurately reconstruct the original data based on the known key information. The high sensitivity of chaotic systems means that even small parameter errors can cause decryption failures. Therefore, the decryption module must not only achieve synchronous reproduction of the chaotic sequence but also ensure robustness against perturbations and noise. Without this decryption module, the encrypted information cannot be correctly recovered, rendering the entire communication process meaningless. Therefore, designing a decryption module with high precision, strong synchronization, and good robustness is fundamental to the reliable application of chaotic encryption systems.

[0100] Based on this, the decryption module receives the ciphertext data After that, we first need to determine the switching strategy of the chaotic system. Based on the key, run the Lorenz system basic model and judge the key flow. The size of is used to determine the switching strategy of the chaotic system.

[0101] like Figure 5 As shown, the ciphertext is subtracted from the key stream to obtain the measurement plaintext. The decryption equation can be shown as formula 9:

[0102] Formula nine.

[0103] S104: Perform flight control on the aircraft according to the measurement data.

[0104] A vertical take-off and landing fixed-wing aircraft is an innovative aircraft that combines the vertical take-off and landing capabilities of a multi-rotor with the long endurance and high-speed flight characteristics of a fixed-wing. Its core design uses a multi-rotor or tilt-rotor power system to achieve vertical take-off and landing, and then switches to fixed-wing mode for efficient cruising. For example, a drone can use 16 vertical motors and 4 cruise motors. It can take off and land without a runway, and can fly continuously for more than 1 hour at a speed of 200 kilometers per hour. Its endurance far exceeds that of traditional multi-rotor drones. This type of aircraft is widely used in traffic supervision, oil field inspections, large-area mapping and other fields. Its load capacity and wind resistance further broaden the application scenarios. The state equation of a vertical take-off and landing fixed-wing aircraft can be shown as Formula 10:

[0105] Formula 10.

[0106] Typically, a vertical take-off and landing fixed-wing aircraft is characterized by 12 states to characterize its dynamic and kinematic models, namely , representing position, velocity, attitude, and angular velocity, respectively. Because the states of vertical take-off and landing fixed-wing aircraft are coupled to each other, the dynamics of these aircraft exhibits strong nonlinear characteristics. These dynamics are influenced by factors such as aerodynamic changes, large attitude adjustments, and coupling with the propulsion system. Designing a controller directly based on the complete nonlinear model often results in complex modeling, difficult analysis, and difficulty in solving control laws.

[0107] To simplify controller design, system linearization can be performed near a specific operating point relevant to the mission. Operating-point linearization yields a locally linear approximate model, enabling the application of traditional linear control theory (e.g., pole placement, optimal control, and robust control). This significantly reduces the complexity of controller design and stability analysis, while facilitating efficient engineering deployment and performance verification.

[0108] The operating points of the aircraft's flight control process are linearized to produce a linear system. This linear system consists of a measurement component consisting of the measurement system state variables and state matrix corresponding to the measured data, and an input component consisting of the control input variables and input matrix corresponding to the control components. Based on the linear system and the corresponding output matrix, the corresponding control instructions are output.

[0109] Specifically, after linearization of the operating point, the linear system description is shown in Formula 11:

[0110] Formula 11;

[0111] in, , ,

[0112] , ;

[0113] At this point, the output equation of the system is shown in Formula 12:

[0114] Formula 12;

[0115] in, .

[0116] Define the encryption function as ,at this time, ; and define the decryption function ,at this time, .

[0117] Assuming that the decryption error is 0, the linearization equation of the vertical take-off and landing fixed-wing aircraft is changed to Formula 13:

[0118] Formula 13.

[0119] Furthermore, a control input variable is obtained according to the control gain parameter and the measured system state variable; wherein the difference between the state matrix and the input matrix after the control gain parameter compensation has a real part less than 0.

[0120] Considering the state feedback control scheme ,in is the control gain parameter. In the control system, state feedback can directly utilize all or part of the system state variables and adjust the input in real time to achieve precise regulation of the system's dynamic performance. Compared with the control method that relies solely 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 achieving high-performance control strategies (such as optimal control, adaptive control and robust control). The state equation of the closed-loop control system of a vertical take-off and landing fixed-wing aircraft is shown in the following formula 14:

[0121] Formula 14;

[0122] In the process of adjusting the control system parameters, as long as the control gain is selected Make The real part of the eigenvalue is less than 0, which satisfies the stability of the system near the operating point.

[0123] Leveraging the extreme sensitivity of chaotic nonlinear systems to initial values, an encryption algorithm based on a switching chaotic system was designed for drone control. Based on the designed switching strategy, the switching chaotic system was introduced into the encryption algorithm, making the key stream more random and enhancing the security of aircraft measurement data encryption. This application to aircraft measurement data encryption protects sensitive aircraft measurement data. Combined with traditional state feedback control algorithms, this algorithm improves flight safety and enhances its application in sensitive scenarios.

[0124] In one embodiment, considering that using a single first chaotic system as a basic judgment model may result in weak anti-attack capability, once the key of the basic judgment model is cracked, the system is easily attacked.

[0125] Based on this, we consider injecting plaintext data into different chaotic systems in batches. This can effectively enhance anti-attack capabilities. By dividing and distributing data across multiple chaotic systems, attackers must simultaneously crack multiple systems to obtain complete information, significantly increasing the difficulty of the attack. Furthermore, different chaotic systems (such as the Lorenz chaotic system, the Chen chaotic system, and the Rossler chaotic system) have unique dynamic characteristics. Mixing them can avoid the risk of reverse engineering a single system and achieve diversified encryption.

[0126] Specifically, the plaintext data corresponding to the measurement data emitted by the sensitive device is obtained and then divided into blocks based on the current communication bandwidth to obtain multiple blocks of data. The data block strategy can be set to static block, which divides the data into fixed lengths (for example, groups of 128 bits) and round-robinly distributes them to different chaotic systems. Alternatively, dynamic block can be set to dynamically select a chaotic system based on the data content (for example, sensitivity level) or environmental conditions (for example, aircraft acceleration). Furthermore, adaptive block size can be set to dynamically adjust the block size based on network bandwidth. When the bandwidth is high, the blocks are refined to select as many secondary chaotic systems as possible for activation. When the bandwidth is low, the blocks are merged to select a smaller number of secondary chaotic systems for activation.

[0127] Compress and encode the metadata corresponding to the block data to obtain encoded data. For example, entropy encoding (such as Huffman encoding) is performed on the metadata to reduce additional load. The metadata can include block identification information (such as block sequence number and total number of blocks) for each block data, encryption routing information (such as chaotic system identification and key version number), and security verification information (such as timestamp and hash value).

[0128] The block data and the corresponding coded data are injected into the output equations of each chaotic system to obtain the corresponding ciphertext data. The number of injected chaotic systems is the same as the number of obtained block data, and the number of block data is not greater than the number of injected chaotic systems. The injected chaotic system is regarded as the activated chaotic system and is called the second chaotic system.

[0129] At this time, it is determined that the number of currently activated second chaotic systems is plural, that is, the chaotic systems into which the block data have been injected are activated second chaotic systems.

[0130] According to the switching signal, the decryption order of the currently activated multiple second chaotic systems is switched. 、 When , the switching signal is as shown in Formula 15:

[0131] Formula 15;

[0132] When included 、 、 When , the switching signal is as shown in formula 16:

[0133] Formula 16.

[0134] in, Indicates that the decryption order is , the decryption order of the switching signal in other states is similar. As the second chaotic system changes and increases, the switching signal can adapt to change.

[0135] In the actual operation process, since the number of block data each time may be different, when setting up multiple chaotic systems, only some of them may be selected to inject block data. At this time, when injecting block data, the current number of each chaotic system can be set according to the preset value. Determine the current decryption order, inject block data into the corresponding chaotic system from front to back according to the decryption order, and add a corresponding cutoff mark to the block data injected by the last chaotic system corresponding to the number of block data.

[0136] During key distribution and decryption, the aircraft system is powered on. Based on the power-on signal, a random number generator is used to generate a random number. This random number is used as the master key, from which multiple subkeys are derived. For example, a hierarchical key derivation function (HKDF) is used to derive multiple subkeys from the master key.

[0137] For each subkey, a single chaotic system is corresponding to it, and the subkey is divided into multiple parts. Each part is converted into a corresponding floating point number as the initial value of the chaotic system state variable of the chaotic system corresponding to the subkey. The three parts are divided and converted into floating point numbers respectively, corresponding to σ, ρ, and β.

[0138] The basic decision model is run based on the subkey corresponding to the basic decision model to determine the decryption order of the multiple currently activated second chaotic systems according to the switching signal. During decryption, decryption is performed according to this decryption order until the last chaotic system is decrypted, or when the corresponding end mark is identified, all decryptions are completed.

[0139] Following the decryption sequence, the output equation of the second chaotic system and the subkey corresponding to the second chaotic system are used to obtain the corresponding block data. The acquisition of this block data is similar to the process of obtaining the plaintext data described above. Following the decryption sequence, the block data are combined to obtain the plaintext data corresponding to the measurement data.

[0140] like Figure 6 As shown, the present application also proposes an aircraft control device based on switched chaotic system encryption, comprising:

[0141] at least one processor; and,

[0142] a memory communicatively connected to the at least one processor; wherein,

[0143] The memory stores instructions that can be executed 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 switching chaotic system encryption as described in any of the above embodiments.

[0144] The present application also proposes a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured to implement the aircraft control method based on switched chaotic system encryption as described in any of the above embodiments.

[0145] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device and medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0146] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects to their 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 repeated here.

[0147] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. An aircraft control method based on switched chaotic system encryption, characterized in that: include: Determine a plurality of chaotic systems that have been set up, and inject plaintext data corresponding to the measurement data emitted by the sensitive device into the output equation of the chaotic system to obtain corresponding ciphertext data; Selecting a first chaotic system from the multiple chaotic systems as a basic determination model; The method further comprises: setting the initial value of the chaotic system state variable of the basic judgment model; determining a designated state variable for representing the convection intensity among the chaotic system state variables; and obtaining the corresponding switching signal based on the value of the designated state variable and a pre-set range interval; determining the range interval hit by the value of the designated state variable according to the value of the designated state variable, and activating the chaotic system corresponding to the range interval; The ciphertext data is sent to a control component, and the basic determination model is run based on the key to determine the currently activated second chaotic system according to the switching signal, and the plaintext data corresponding to the measurement data is obtained according to the output equation of the second chaotic system and the key; performing flight control on the aircraft according to the measurement data; Before running the basic decision model based on the key, the method further includes: Determining that the aircraft system is powered on, and based on the power-on signal, generating a plurality of random numbers through a random number generator, and using the random numbers as initial values of the chaotic system state variables of the basic determination model; The initial value is used as a key and sent to the encryption module corresponding to the sensitive device and the decryption module corresponding to the control component respectively.

2. The aircraft control method based on switched chaotic system encryption according to claim 1, characterized in that: The aircraft is controlled based on the measurement data, specifically including: Linearizing the operating points of the flight control process of the aircraft to obtain a linear system; the linear system includes a measurement part consisting of a measurement system state variable and a state matrix corresponding to the measurement data, and an input part consisting of a control input variable and an input matrix corresponding to the control component; According to the linear system and the corresponding output matrix, the corresponding control instructions are output.

3. The aircraft control method based on switched chaotic system encryption according to claim 2, characterized in that: The method further comprises: The control input variable is obtained according to the control gain parameter and the measurement system state variable; wherein the difference between the state matrix and the input matrix after compensation by the control gain parameter has a real part less than 0.

4. The aircraft control method based on switched chaotic system encryption according to claim 1, characterized in that: The plaintext data corresponding to the measurement data sent by the sensitive device is injected into the output equation of the chaotic system to obtain the corresponding ciphertext data, specifically including: Obtaining plaintext data corresponding to measurement data sent by sensitive devices; According to the current communication bandwidth, the plaintext data is processed into blocks to obtain a plurality of block data; The metadata corresponding to the block data is compressed and encoded to obtain encoded data, and the block data and the corresponding encoded data are respectively injected into the output equation of each chaotic system to obtain corresponding ciphertext data.

5. The aircraft control method based on switched chaotic system encryption according to claim 4 is characterized in that: Switching the currently activated second chaotic system according to the switching signal specifically includes: determining that the number of currently activated second chaotic systems is a plurality; The decryption order in the currently activated plurality of second chaotic systems is switched according to the switching signal.

6. The aircraft control method based on switched chaotic system encryption according to claim 5, characterized in that: Running the basic determination model based on the key to determine the currently activated second chaotic system according to the switching signal, and obtaining plaintext data corresponding to the measurement data according to an output equation of the second chaotic system and the key, specifically including: Determining that the aircraft system is powered on, and based on the power-on signal, generating a random number through a random number generator, and using the random number as a master key; Deriving multiple subkeys based on the master key; For each subkey, a single chaotic system is corresponding to it, and the subkey is divided into multiple parts, and each part is converted into a corresponding floating point number as the initial value of the chaotic system state variable of the chaotic system corresponding to the subkey; running the basic determination model based on the subkey corresponding to the basic determination model to determine a decryption order of the plurality of second chaotic systems currently activated according to the switching signal; Obtaining the block data corresponding to the second chaotic system according to the output equation of the second chaotic system and the subkey corresponding to the second chaotic system in the decryption order; The block data are combined according to the decryption order to obtain plaintext data corresponding to the measurement data.

7. An aircraft control device based on switched chaotic system encryption, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed 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 6.

8. A non-volatile computer storage medium storing computer-executable instructions, characterized in that: The computer executable instructions are configured to implement the aircraft control method based on switched chaotic system encryption as described in any one of claims 1 to 6.

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