A data security transmission method applied to an unmanned aerial vehicle inspection scene

Abstract

The application discloses a kind of data security transmission methods applied to unmanned aerial vehicle inspection scene, it is related to data security transmission related technical field, the method includes: setting local network middleware;According to unmanned aerial vehicle inspection task, obtain multiple cooperative unmanned aerial vehicles, send formation cooperation communication request to local network middleware to establish differential communication link;Fragmentation scheduler is used to generate security key and carry out fragmentation encryption processing, output multiple inspection encrypted fragments data;Differential transceiver carries out local network differential transmission in differential communication link and recombines to obtain cooperative inspection data;By local network middleware, cooperative inspection data is sent to ground station.The technical problems that the existing technology exists that unmanned aerial vehicle cluster inspection data transmission communication link is unreliable, single point failure risk is high, leading to the technical problem that data transmission security and reliability are insufficient, reaches the technical effect that the safe and reliable data cooperative transmission system is built, so as to guarantee the confidentiality and integrity of unmanned aerial vehicle cluster inspection data transmission.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data security transmission, and particularly relates to a data security transmission method applied to an unmanned aerial vehicle (UAV) inspection scene. BACKGROUND

[0002] The UAV cluster is applied to the fields of power inspection, environmental monitoring, disaster response, etc. In a complex or large-scale inspection scene, multi-UAV cooperative operation can significantly improve task efficiency and data coverage capability. However, the cooperative operation mode brings significant challenges to data security and transmission reliability. The data collected by the UAV in the inspection process, such as images, videos, sensor readings, etc., often contains sensitive or critical information. If the data is stolen or tampered with during transmission, it may lead to significant security risks or decision-making errors. Traditional data transmission relies on point-to-point encrypted communication or centralized transmission architecture based on a central server. In a dynamic, high-latency or unstable network condition inspection environment, there are obvious limitations, for example, the communication link is easily disturbed or attacked, and the centralized transmission may cause data delay or loss due to network bottlenecks. In addition, the cooperative communication requirements of the UAV cluster put higher requirements on the real-time performance, fault tolerance and security of data transmission.

[0003] In the related art at the present stage, there are technical problems of unreliable communication link of UAV cluster inspection data transmission, high risk of single point failure, resulting in insufficient data transmission security and reliability. SUMMARY

[0004] The present application provides a data security transmission method applied to an unmanned aerial vehicle (UAV) inspection scene, which solves the technical problems of unreliable communication link of UAV cluster inspection data transmission, high risk of single point failure, resulting in insufficient data transmission security and reliability in the prior art. The technical effect of constructing a safe and reliable data cooperative transmission system is achieved, thereby ensuring the confidentiality and integrity of the UAV cluster inspection data transmission.

[0005] The application provides a data security transmission method applied to an unmanned aerial vehicle (UAV) inspection scene, which comprises the following steps: setting a local network middleware, wherein the local network middleware comprises a fragmentation scheduler, at least one differential transceiver, and a local network control unit; issuing an UAV inspection task of a current UAV inspection scene, acquiring a plurality of cooperative UAVs from an UAV cluster according to the UAV inspection task, and sending a formation cooperation communication request to the local network middleware by the plurality of cooperative UAVs to establish a differential communication link between the plurality of cooperative UAVs and the local network middleware; the fragmentation scheduler is used for generating a security key and issuing the security key to the plurality of cooperative UAVs, performing fragmentation encryption processing on a plurality of inspection data according to the security key when the plurality of cooperative UAVs acquire the plurality of inspection data, and outputting a plurality of inspection encrypted fragments; the differential transceiver performs local network differential transmission on the plurality of inspection encrypted fragments on the differential communication link, and the local network control unit decrypts and recombines the plurality of inspection encrypted fragments according to the security key to obtain cooperative inspection data; and the local network middleware sends the cooperative inspection data to a ground station.

[0006] In a possible implementation, the data security transmission method applied to the UAV inspection scene further performs the following processing: the differential transceiver is an RS485 differential transceiver, and the differential communication link is an RS485 differential communication link.

[0007] In a possible implementation, the data security transmission method applied to the UAV inspection scene further performs the following processing: the fragmentation scheduler acquires an initial symmetric key through a random number generator, and records a generation time stamp, a task ID, and a plurality of cooperative UAV lists of the symmetric key at the same time; the initial symmetric key is fragmented through a threshold secret sharing mechanism to acquire N symmetric key fragments, wherein the N symmetric key fragments comprise a preset recombination threshold M, the preset recombination threshold M represents that any M symmetric key fragments recombine the initial symmetric key, and M is less than or equal to N; and a plurality of security keys of the plurality of cooperative UAVs are constructed according to the N symmetric key fragments and the preset recombination threshold M.

[0008] In a possible implementation, the data security transmission method applied to the UAV inspection scene further performs the following processing: identifying a transmission level of the UAV inspection task and a number of UAVs of the plurality of cooperative UAVs, wherein the transmission level comprises an inspection task level, an inspection area importance, and an inspection emergency degree; and performing adaptive optimization on a fragmentation number of the symmetric key fragments and a preset recombination threshold according to the transmission level and the number of UAVs.

[0009] In a possible implementation, the data security transmission method applied to the UAV inspection scene further performs the following processing: a multi-objective optimization function is constructed, the multi-objective optimization function being a weighted sum objective function of a dynamic weight and a security objective, a fault tolerance objective, and a resource consumption objective, wherein the security objective is an increasing function of a preset reorganization threshold M, the fault tolerance objective is an increasing function of a difference between a number of fragments N and the preset reorganization threshold M, and the resource consumption objective is an increasing function of the number of fragments N; the transmission level and the number of UAVs are input into the multi-objective optimization function for solving, and the number of fragments N and the preset reorganization threshold M that maximize the multi-objective optimization function as adaptive optimization objectives are obtained.

[0010] In a possible implementation, the data security transmission method applied to the UAV inspection scene further performs the following processing: an initial population of the number of fragments N and the preset reorganization threshold M is randomly generated, the initial population including a plurality of candidate solutions; fitness of the plurality of candidate solutions is calculated based on the multi-objective optimization function, and a first local candidate solution is obtained; a neighborhood candidate solution is generated in the first local candidate solution, fitness of the neighborhood candidate solution is calculated based on the multi-objective optimization function, the fitness of the neighborhood candidate solution is compared with the fitness of the first local candidate solution, and it is determined whether to update the first local candidate solution, until a preset iteration number is reached, and the first local candidate solution is returned as a global optimal solution of the multi-objective optimization function.

[0011] In a possible implementation, the data security transmission method applied to the UAV inspection scene further performs the following processing: the local network control unit receives a plurality of inspection encrypted fragment data of the plurality of cooperative UAVs, performs consistency verification on the plurality of inspection encrypted fragment data, and decrypts and reorganizes the plurality of inspection encrypted fragment data according to the security key when the consistency verification passes; wherein the consistency verification includes checking a generation timestamp, task ID matching, and identity authentication of the plurality of cooperative UAVs.

[0012] In a possible implementation, the data security transmission method applied to the UAV inspection scene further performs the following processing: it is detected whether the UAV inspection task is completed, and if the UAV inspection task is completed, the UAV inspection task is reacquired, and a differential communication link between the plurality of cooperative UAVs and the local network middleware is reestablished according to the reacquired UAV inspection task.

[0013] The application discloses a data security transmission method applied to an unmanned aerial vehicle (UAV) inspection scene, a local network middleware is arranged; a plurality of cooperative UAVs are acquired according to an UAV inspection task, and a formation cooperation communication request is sent to the local network middleware to establish a differential communication link; a fragmentation scheduler is used for generating a security key to perform fragmentation encryption processing, and outputs a plurality of inspection encrypted fragmented data; a differential transceiver performs local network differential transmission on the differential communication link and recombines to obtain cooperative inspection data; and the local network middleware sends the cooperative inspection data to a ground station. The technical problems that the data transmission communication link of the UAV cluster inspection is unreliable, the single-point failure risk is high, and the data transmission safety and reliability are insufficient in the prior art are solved, a safe and reliable data cooperative transmission system is constructed, and the technical effects of guaranteeing the confidentiality and integrity of the UAV cluster inspection data transmission are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings of the embodiments of the application will be briefly introduced below, and the flowcharts are used to illustrate the operations performed by the system according to the embodiments of the application in the present application. It should be understood that the foregoing or the following operations are not necessarily performed in sequence. On the contrary, various steps can be processed in reverse order or simultaneously according to needs. Meanwhile, other operations can be added to these processes, or one or more steps of operations can be removed from these processes.

[0015] Figure 1 A flowchart of a data security transmission method applied to an unmanned aerial vehicle (UAV) inspection scene is provided for the embodiments of the application.

[0016] Figure 2 A flowchart of generating and issuing a security key in a data security transmission method applied to an unmanned aerial vehicle (UAV) inspection scene is provided for the embodiments of the application. DETAILED DESCRIPTION

[0017] The foregoing description is only a summary of the technical solutions of the application, in order to more clearly understand the technical means of the application, the content of the specification can be implemented, and in order to make the above and other purposes, characteristics and advantages of the application more obvious and easy to understand, the following specific embodiments of the application are described.

[0018] In order to make the purposes, technical solutions and advantages of the application more clear, the application will be further described in detail below in combination with the drawings, and the described embodiments should not be regarded as limiting the application, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the application.

[0019] In the following description, "some embodiments" are referred to, which describe a subset of all possible embodiments, but it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict, and the term "first\second" referred to only distinguishes similar objects, and does not represent a specific order for the objects. The terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, product or server including a series of steps does not have to be limited to those steps clearly listed, but can include other steps not clearly listed or inherent to these processes, methods, products or devices. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as understood by those skilled in the art to which the present application belongs. The terms used herein are only for the purpose of describing the embodiments of the present application.

[0020] The embodiments of the present application provide a data security transmission method applied to a UAV inspection scene, as shown in Figure 1 The method comprises the following steps:

[0021] Step S100, setting a local network middleware, wherein the local network middleware comprises a fragmentation scheduler, at least one differential transceiver and a local network control unit.

[0022] Preferably, the local network middleware is a communication data processing unit located between a UAV cluster and a ground station and designed for the UAV inspection scene, used for coordinating UAV cluster communication, ensuring safe, reliable and efficient data transmission to the ground station, comprising a fragmentation scheduler, at least one differential transceiver and a local network control unit. Specifically, the fragmentation scheduler is a unit responsible for security key life cycle management and data fragmentation strategy formulation, including creating an initial symmetric key for encrypting data using a random number generator, splitting the master key into multiple key fragments using threshold secret sharing and other cryptography mechanisms, and securely issuing the key fragments to each cooperative UAV. According to the characteristics of the inspection task, the total number of key fragments and the minimum number of key fragments required for key recombination are dynamically determined by an optimization algorithm. The differential transceiver is a component that implements physical layer and data link layer communication, which transmits data in a differential signal transmission mode, i.e. using a pair of wires to transmit a signal, and the receiver parses the signal by detecting the voltage difference between the two wires, and supports multi-node communication. The local network control unit is a data processing unit responsible for data integration, verification and recombination, used to receive encrypted data fragments from each UAV through the differential transceiver and perform consistency checking. After verification, the encrypted data fragments are decrypted using the security key managed by the fragmentation scheduler, and all valid fragments are recombined in the correct order to restore the collaborative inspection data collected by multiple UAVs, and finally sent to the ground station.

[0023] Step S200, issuing a UAV inspection task of a current UAV inspection scene, obtaining a plurality of cooperative UAVs from a UAV cluster according to the UAV inspection task, and sending a formation cooperation communication request to the local network middleware by the plurality of cooperative UAVs to establish a differential communication link between the plurality of cooperative UAVs and the local network middleware.

[0024] Preferably, the task control system issues a UAV inspection task to the UAV cluster, at least including a task target, a task parameter and a cooperation requirement, wherein the task target is a specific area or target to be inspected, such as latitude and longitude coordinates, a flight route, the task parameter contains a flight height, a speed, a required sensor type, a data acquisition frequency, etc., and the cooperation requirement indicates the number and type of UAVs required to execute the current task, such as 2 UAVs carrying visible light cameras and 1 UAV carrying an infrared thermal imager; then based on the cooperation requirement in the UAV inspection task, i.e. according to the current position, endurance, load type, communication state and current task load of the UAV, a plurality of cooperative UAVs are selected from the available UAV pool.

[0025] Preferably, the plurality of cooperative UAVs actively send a formation cooperation communication request to the local network middleware before starting to execute the task, i.e. a standard network request message, wherein the formation cooperation communication request is a link establishment control signaling, used to initialize a communication session and establish a differential communication link between the plurality of cooperative UAVs and the local network middleware, wherein the request message may contain a UAV identity, an inspection task identity, etc., i.e. based on the hardware characteristics of the differential transceiver, the communication link between the local network middleware and the cooperative UAV is established, specifically, after receiving the formation cooperation communication request of the cooperative UAV, the local network middleware allocates communication resources and prepares to receive data, the cooperative UAV configures its communication module according to the request response to match the parameters of the local network middleware, thereby establishing a communication link, i.e. the local network middleware and the cooperative UAV complete the synchronization of communication parameters, the UAV is registered in the network of the local network middleware, thereby communicating through a shared, differential physical channel, including transmitting data in the form of differential signals on the differential communication link.

[0026] Further, step S200 further comprises that the differential transceiver is an RS485 differential transceiver, and the differential communication link is an RS485 differential communication link.

[0027] Preferably, the differential transceiver is an RS485 differential transceiver, i.e. a differential transceiver conforming to the RS-485 standard protocol, responsible for converting the digital signals generated by the communication controller into differential signals suitable for transmission in long-distance, noisy environments; the differential communication link is an RS485 differential communication link, i.e. a complete physical layer and data link layer communication channel established by using the RS485 differential transceiver and according to the RS-485 standard protocol.

[0028] The slice scheduler is configured to generate a security key and distribute the security key to the plurality of cooperative UAVs, and when the plurality of cooperative UAVs acquire a plurality of inspection data, the plurality of cooperative UAVs perform slice encryption processing on the plurality of inspection data according to the security key, and output a plurality of inspection encrypted slice data.

[0029] Preferably, the slice scheduler is a core component of the local network middleware, and the data slice encryption and transmission based on threshold cryptography double slice the data and the key, and the security is improved through dispersed transmission. Specifically, the slice scheduler generates a high-strength symmetric key using a cryptographically secure random number generator for encrypting the inspection data, and then divides the symmetric key into a plurality of key slices using a threshold secret sharing scheme, and pre-sets a recombination threshold. Any key slice can be used to reconstruct the original symmetric key by calculation, while any less than the recombination threshold cannot obtain information. Finally, the slice scheduler distributes a plurality of different key slices to a plurality of cooperative UAVs through a secure channel, i.e., each cooperative UAV only holds a unique key slice. Then, the plurality of cooperative UAVs perform an inspection task and collect a plurality of inspection data using the sensors carried by the plurality of cooperative UAVs, which may include video streams, picture sets, or point cloud data. Then, the plurality of inspection data is slice encrypted according to the security key, i.e., encrypted using the key slice held by each cooperative UAV. Thus, each cooperative UAV outputs an inspection encrypted slice data, and finally outputs a plurality of inspection encrypted slice data.

[0030] Further, as shown in Figure 2 The slice scheduler is configured to generate a security key and distribute the security key to the plurality of cooperative UAVs, and when the plurality of cooperative UAVs acquire a plurality of inspection data, the plurality of cooperative UAVs perform slice encryption processing on the plurality of inspection data according to the security key, and output a plurality of inspection encrypted slice data.

[0031] Preferably, the sharding scheduler generates a high-strength initial symmetric key through a cryptographically secure pseudo-random number generator for encrypting the current inspection task data, and generates and records metadata associated with the key to form the context of the key, including generating a timestamp, a task ID, and a list of cooperating drones, the timestamp is used to identify the creation time of the key to prevent replay attacks, the task ID is used to uniquely identify the drone inspection task to achieve strict binding of the key and the task, and the list of cooperating drones is used to record multiple cooperating drones authorized to participate in the current inspection task and receive key shard data; then a threshold secret sharing scheme is used to input the initial symmetric key, output N symmetric key shards based on the transmission level of the drone inspection task and the number of cooperating drones, and set a cryptographic parameter recombination threshold M, and M is less than or equal to N. Specifically, any M or more key shard combinations can be reconstructed to the original initial symmetric key through Lagrange interpolation calculation defined by the threshold secret sharing scheme; any M-1 or less key shard combinations cannot obtain any information of the original key; finally, multiple secure keys of multiple cooperating drones are constructed according to the N symmetric key shards and the preset recombination threshold M, and are distributed to the corresponding drones in the list of cooperating drones through a secure channel, wherein the secure key can include a key shard, a generation timestamp, an inspection task ID, and an index number of N key shards, and each drone finally only holds one key shard.

[0032] Further, step S310 further includes step S311 of identifying the transmission level of the drone inspection task and the number of cooperating drones, the transmission level including the inspection task level, the inspection area importance, and the inspection urgency; and step S312 of adaptively optimizing the number of key shards and the preset recombination threshold according to the transmission level and the number of drones.

[0033] Preferably, according to the criticality of the inspection task and the scale of the cooperative UAV, the parameters of the threshold secret sharing are dynamically adjusted to achieve the optimal balance between security strength, fault tolerance capability and communication overhead. Specifically, the transmission level of the UAV inspection task is identified, i.e. the security risk evaluation value of the weighted comprehensive inspection task level, the inspection area importance and the inspection urgency, wherein the inspection task level refers to the importance of the inspection task itself, which may include high, medium and low levels; the inspection area importance refers to the sensitivity or danger of the working environment, which may include high, medium and low importance; the inspection urgency refers to the requirement of the inspection task for timeliness, which may include high, medium and low urgency. The number of UAVs refers to the total number of cooperative UAVs participating in the inspection task, representing the inspection scale and the number of nodes available for dispersing keys. Finally, according to the transmission level of the UAV inspection task and the number of cooperative UAVs, adaptive optimization is performed to calculate the optimal configuration parameters of the threshold secret sharing scheme, i.e. the number of fragments N and the preset recombination threshold M.

[0034] Further, step S312 further comprises step A, constructing a multi-objective optimization function, wherein the multi-objective optimization function is a weighted sum objective function of a dynamic weight and a security target, a fault tolerance target and a resource consumption target, wherein the security target is an increasing function of the preset recombination threshold M, the fault tolerance target is an increasing function of the difference between the number of fragments N and the preset recombination threshold M, and the resource consumption target is an increasing function of the number of fragments N; and step B, inputting the transmission level and the number of UAVs into the multi-objective optimization function for solving to obtain the number of fragments N and the preset recombination threshold M which maximize the adaptive optimization target of the multi-objective optimization function.

[0035] Preferably, a multi-objective optimization function quantifying security, fault tolerance and resource consumption is constructed, the multi-objective optimization function being a weighted sum objective function of a dynamic weight and a security target, a fault tolerance target and a resource consumption target, wherein the security target is an increasing function of a preset recombination threshold M, mainly positively correlated with the preset recombination threshold M, the greater the value of M, the more fragments required for recovering the key, the more captured nodes M-1 that can be tolerated, and the higher the security; the fault tolerance target is an increasing function of the difference between the number of fragments N and the preset recombination threshold M, mainly positively correlated with the difference between N and M, representing the number of failed or lost nodes that can be tolerated, the greater the difference between N and M, the higher the fault tolerance; the resource consumption target is an increasing function of the number of fragments N, i.e., the resource consumption is positively correlated with the total number of fragments N, the greater N, the more key fragments that need to be generated, distributed, transmitted and managed, the greater the resource overhead such as calculation, storage and communication, and the lower the overall efficiency; the dynamic weight is determined according to the transmission level, when the transmission level is high, security and fault tolerance are given priority, i.e., the weights of security and fault tolerance are adjusted to be high, resulting in an increase in N and M and an increase in overhead, when the transmission level is low, efficiency and resource consumption are given priority, i.e., the weight of resource consumption is adjusted to be high, and smaller N and M are selected; finally, the transmission level and the number of UAVs are input into the multi-objective optimization function for solving, under the constraint condition that the total number of fragments cannot exceed the total number of available UAVs, the multi-objective optimization function is maximized through a heuristic search algorithm, so as to determine the optimal M and N configuration for the current inspection task.

[0036] Further, step B further includes step B10 of randomly generating an initial population of the number of fragments N and the preset recombination threshold M, the initial population including a plurality of candidate solutions; step B20 of performing fitness calculation on the plurality of candidate solutions based on the multi-objective optimization function to obtain a first local candidate solution; step B30 of generating a neighborhood candidate solution in the first local candidate solution, performing fitness calculation on the neighborhood candidate solution based on the multi-objective optimization function, comparing the fitness of the neighborhood candidate solution with the fitness of the first local candidate solution, and determining whether to update the first local candidate solution, until a preset iteration number is reached and the first local candidate solution is returned as a global optimal solution of the multi-objective optimization function.

[0037] Preferably, a plurality of candidate solutions about the number of fragments N and the preset recombination threshold M are randomly generated to form an initial population, and it is ensured that each randomly generated solution must satisfy the constraint condition 1≤M≤N≤N_total, wherein N_total is the total number of available cooperative unmanned vehicles, then the multi-objective optimization function is taken as the fitness function, the fitness weighted sum of the safety target, the fault tolerance target and the resource consumption target of each candidate solution in the initial population is calculated, the comprehensive performance of the group of parameter configurations is quantitatively represented, the higher the fitness, the better the candidate solution, and then the candidate solution with the highest fitness value is selected from all initial candidate solutions and marked as the first local candidate solution; then taking the first local candidate solution as the center, a plurality of new neighborhood candidate solutions are generated in its neighborhood by fine-tuning N and M, and the fitness of the neighborhood candidate solutions is calculated based on the multi-objective optimization function; then the fitness of the first local candidate solution is compared with the fitness of the plurality of neighborhood candidate solutions, if there is a neighborhood candidate solution whose fitness is higher than that of the first local candidate solution, the neighborhood candidate solution is used to replace the first local candidate solution; if there is no better neighborhood candidate solution, the current first local candidate solution remains unchanged, until a preset iteration number is reached, and the final first local candidate solution is returned as the global optimal solution of the multi-objective optimization function, and then the key fragmentation and distribution are performed by the fragmentation scheduler according to the number of fragments N and the preset recombination threshold M.

[0038] Step S400, the differential transceiver transmits the plurality of inspection encrypted fragment data in the local network difference communication link, and the local network control unit decrypts and recombines the plurality of inspection encrypted fragment data according to the security key to obtain cooperative inspection data.

[0039] Step S400 further includes that the local network control unit receives a plurality of inspection encrypted fragment data of the plurality of cooperative unmanned vehicles, performs consistency verification on the plurality of inspection encrypted fragment data, and when the consistency verification passes, decrypts and recombines the plurality of inspection encrypted fragment data according to the security key; wherein the consistency verification includes checking generation time stamp, task ID matching and identity authentication of the plurality of cooperative unmanned vehicles.

[0040] Preferably, all the RS485 differential transceivers of the cooperative UAVs and the LAN middleware are connected in parallel on the same twisted pair A and B lines to form a differential communication link, wherein the LAN middleware acts as the master device to control the communication timing, and all the UAVs act as slave devices in a listening state waiting to be addressed by the master device. Specifically, the control unit of the LAN middleware sends a data request command frame containing the unique address of the target cooperative UAV to the bus through its RS485 differential transceiver, which converts the data request command frame into a differential voltage signal and loads it onto the twisted pair and propagates it along the bus to all connection points. Logic 1 means that the driver makes the A line voltage higher than the B line voltage by at least 200mV, and logic 0 means that the driver makes the B line voltage higher than the A line voltage by at least 200mV. The transceivers of all the cooperative UAVs receive the differential voltage signal and convert it back to a digital signal. Only the UAV whose address matches the target address in the command frame can respond, and at the same time, it switches its RS485 transceiver from the receiving mode to the sending mode. Then it packs the prepared patrol encrypted fragmented data into multiple data frames and drives them to the bus in the form of differential signals through the RS485 transceiver.

[0041] Preferably, the LAN middleware switches its transceiver back to the receiving mode to monitor the differential voltage changes on the bus, receives the differential signals of the target cooperative UAV and converts them back to data frames in the form of digital signals. The LAN middleware sequentially polls all the cooperative UAVs in order, receives multiple patrol encrypted fragmented data of multiple cooperative UAVs, and then performs consistency verification on the multiple patrol encrypted fragmented data, including checking the generation timestamp, matching the task ID, and authenticating the identities of the multiple cooperative UAVs. The checking of the generation timestamp means that the LAN control unit checks the generation timestamp in each data packet and verifies whether the timestamps of all data packets are within the preset valid time window to prevent replay attacks. The matching of the task ID means that the LAN control unit checks the task ID in each data packet, i.e., verifies whether the task IDs of all data packets are exactly the same and match the expected task ID currently being processed by the LAN control unit, to prevent data confusion attacks and ensure task context consistency. The authentication of the identities of the multiple cooperative UAVs means that the LAN control unit verifies the source of each data packet through a cryptographic mechanism, such as using a pre-set UAV public key to verify a digital signature or recalculating and comparing a message authentication code using the same key, to prevent illegal node access and data injection attacks. When the data packets pass the generation timestamp check, the task ID matching, and the authentication of the identities of the multiple cooperative UAVs at the same time, it means that the consistency verification is passed.

[0042] Preferably, the reassembled multiple inspection encrypted fragments are decrypted according to the security key, that is, all valid data fragments passing the consistency verification are decrypted and reassembled. Specifically, the local network control unit collects at least M valid key fragments, reconstructs the original symmetric key through the threshold secret sharing algorithm, decrypts each encrypted data fragment passing the consistency verification using the recovered symmetric key to obtain the original data fragment, and reassembles all decrypted data fragments in the correct order to restore the cooperative inspection data.

[0043] Step S500, the cooperative inspection data is sent to the ground station by the local network middleware.

[0044] Step S500 further includes detecting whether the UAV inspection task is completed, and if the UAV inspection task is completed, reacquiring the UAV inspection task, and reestablishing the differential communication link between the multiple cooperative UAVs and the local network middleware according to the reacquired UAV inspection task.

[0045] Preferably, the local network middleware sends the cooperative inspection data to the ground station through the communication interface, and then detects whether the UAV inspection task is completed, that is, the local network middleware confirms the status of the current inspection task. Specifically, after the ground station receives the cooperative inspection data, it sends a task completion confirmation signal to the local network middleware, and then the internal state machine of the local network middleware marks the current task status as completed after successfully receiving, verifying, reassembling, and forwarding all cooperative UAV inspection data. If it is detected that the current UAV inspection task is completed, the UAV inspection task is reacquired, including the local network middleware requesting the next UAV inspection task from the task control system, which can be different areas, different targets, different UAV cooperation requirements, and then reestablishing the differential communication link between the multiple cooperative UAVs and the local network middleware according to the UAV cooperation requirements of the new UAV inspection task, that is, reselecting multiple cooperative UAVs from the UAV cluster and sending a new formation cooperation communication request to the local network middleware, the local network middleware generates a new security key, and then distributes it to the new cooperative UAV group through new threshold secret sharing parameters and establishes a new differential communication link, thereby ensuring the confidentiality and integrity of the UAV cluster inspection data transmission, and improving the data transmission security and reliability.

[0046] The foregoing DETAILED DESCRIPTION, including the above section titled "Detailed Description," is not to be taken as limiting the scope of the application. Various modifications, combinations, and equivalents can be apparent to those skilled in the art and can be made once the nature of the application is understood. Any modification, combination, or equivalent, which falls within the principles and the scope of the present application, is intended to be included in the present application. In some instances, the actions or steps can be performed in different order from those described herein, and still achieve desirable results. Additionally, the process depicted in the figures can not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

Claims

1. A data security transmission method applied to a UAV inspection scene, characterized in that, The method comprises: Setting a local network middleware, the local network middleware comprising a fragmentation scheduler, at least one differential transceiver and a local network control unit; According to the unmanned aerial vehicle inspection task, a plurality of cooperative unmanned aerial vehicles are obtained from the unmanned aerial vehicle cluster, a formation cooperation communication request is sent from the plurality of cooperative unmanned aerial vehicles to the local network middleware to establish a differential communication link between the plurality of cooperative unmanned aerial vehicles and the local network middleware; The fragmentation scheduler is used to generate a security key and distribute it to the plurality of cooperative unmanned aerial vehicles, and when the plurality of cooperative unmanned aerial vehicles obtain a plurality of inspection data, the plurality of inspection data is fragmented and encrypted according to the security key, and a plurality of inspection encrypted fragments are output; The differential transceiver receives a plurality of inspection encrypted fragments on the differential communication link, and the local network control unit decrypts and recombines the plurality of inspection encrypted fragments according to the security key to obtain cooperative inspection data; The local network middleware sends the cooperative inspection data to the ground station; The fragmentation scheduler is used to generate a security key and distribute it to the plurality of cooperative unmanned aerial vehicles, and the method comprises: The fragmentation scheduler obtains an initial symmetric key through a random number generator, and records the generation time stamp, task ID and list of the plurality of cooperative unmanned aerial vehicles of the symmetric key; The initial symmetric key is fragmented through a threshold secret sharing mechanism to obtain N symmetric key fragments, wherein the N symmetric key fragments include a preset recombination threshold M, and the preset recombination threshold M represents that any M symmetric key fragments recombine the initial symmetric key, and M is less than or equal to N; A plurality of security keys of the plurality of cooperative unmanned aerial vehicles are constructed according to the N symmetric key fragments and the preset recombination threshold M; The initial symmetric key is fragmented through a threshold secret sharing mechanism to obtain N symmetric key fragments, and the method comprises: Identify the transmission level of the unmanned aerial vehicle inspection task and the number of unmanned aerial vehicles of the plurality of cooperative unmanned aerial vehicles, the transmission level includes the inspection task level, the inspection area importance and the inspection emergency degree; The number of fragments and the preset recombination threshold of the symmetric key fragments are adaptively optimized according to the transmission level and the number of unmanned aerial vehicles; The number of fragments and the preset recombination threshold of the symmetric key fragments are adaptively optimized according to the transmission level and the number of unmanned aerial vehicles, and the method comprises: A multi-objective optimization function is constructed, and the multi-objective optimization function is a weighted sum objective function of a dynamic weight and a security target, a fault tolerance target and a resource consumption target, wherein the security target is an increasing function of the preset recombination threshold M, the fault tolerance target is an increasing function of the difference between the number of fragments N and the preset recombination threshold M, and the resource consumption target is an increasing function of the number of fragments N; The transmission level and the number of unmanned aerial vehicles are input into the multi-objective optimization function to solve, and the number of fragments N and the preset recombination threshold M that maximize the multi-objective optimization function are obtained. 2.The data security transmission method applied to the unmanned aerial vehicle inspection scene of claim 1, wherein, The differential transceiver is an RS485 differential transceiver, and the differential communication link is an RS485 differential communication link. 3.The data security transmission method applied to the unmanned aerial vehicle inspection scene of claim 1, wherein, The transmission level and the number of drones are input into the multi-objective optimization function for solving, and the method comprises: Randomly generating an initial population about the number of fragments N and a preset recombination threshold M, the initial population comprising a plurality of candidate solutions; Based on the multi-objective optimization function, the fitness of the plurality of candidate solutions is calculated to obtain a first local candidate solution; In the first local candidate solution, a neighborhood candidate solution is generated, the fitness of the neighborhood candidate solution is calculated based on the multi-objective optimization function, the fitness of the neighborhood candidate solution and the first local candidate solution are compared, and it is judged whether to update the first local candidate solution, until a preset iteration number is reached, and the first local candidate solution is returned as the global optimal solution of the multi-objective optimization function.

4. The data security transmission method applied to the unmanned aerial vehicle inspection scene of claim 1, wherein, The local network control unit decrypts and recombines the plurality of inspection encrypted fragment data according to the security key, and the method comprises: The local network control unit receives a plurality of inspection encrypted fragment data of the plurality of cooperative drones, performs consistency verification on the plurality of inspection encrypted fragment data, and when the consistency verification passes, decrypts and recombines the plurality of inspection encrypted fragment data according to the security key; The consistency verification comprises checking the generation timestamp, task ID matching, and identity authentication of the plurality of cooperative drones.

5. The data security transmission method applied to the unmanned aerial vehicle inspection scene of claim 1, wherein, After the local network middleware sends the cooperative inspection data to the ground station, the method further comprises: Detecting whether the drone inspection task is completed, if the drone inspection task is completed, reacquiring the drone inspection task, and reestablishing the differential communication link between the plurality of cooperative drones and the local network middleware according to the reacquired drone inspection task.

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