Unmanned aerial vehicle electric power inspection network based on quantum key online distribution and communication method

Abstract

The invention relates to the technical field of electric power inspection, in particular to an unmanned aerial vehicle electric power inspection network based on quantum key online distribution and a communication method, and the unmanned aerial vehicle electric power inspection network comprises a communication terminal, a ground terminal and an unmanned aerial vehicle cluster composed of a plurality of unmanned aerial vehicles. Quantum key online distribution is adopted between the unmanned aerial vehicles and the ground terminal, between the unmanned aerial vehicles and between the unmanned aerial vehicles and the communication terminal, and quantum encryption communication is carried out based on quantum keys. According to the method, a safe and reliable unmanned aerial vehicle electric power inspection network is constructed based on quantum key online distribution, power grid inspection deployment is further strengthened, the confidentiality degree of inspection communication is improved, and the actual electric power inspection requirement can be better met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power inspection, and in particular to a UAV power inspection network based on quantum key online distribution and a communication method. BACKGROUND

[0002] The statements in this section merely provide background information related to the present application and do not necessarily constitute the prior art.

[0003] In recent years, with the steady advancement of smart grid construction, the power inspection work in China has entered the unmanned aerial vehicle (UAV) automation stage, and the intelligence and autonomy of power inspection equipment have been greatly improved. As a new type of carrier that can carry different equipment, UAV can carry out power inspection tasks at all times or in all weather through remote control or autonomous control. Using a UAV cluster can quickly transmit inspection results to each communication node and communication terminal through a communication network, which is conducive to quickly discovering fault risks and locating fault points for the power grid management platform, thereby promoting the construction of a full-grid integrated UAV intelligent control platform and promoting the development of power inspection towards standardization, informatization, intelligence and lean.

[0004] In the process of power inspection, sometimes it involves the specific location of the core technology and key hub of China's power grid construction, and other confidential information. The most commonly used wired or wireless communication means in the communication system is extremely easy to be eavesdropped and difficult to be discovered by the legal communication parties, so the overall security of the communication is low. Even if traditional encryption communication is carried out, the security of the information completely depends on the security level of the classical key. Once the key is leaked, the eavesdropper can freely intercept, eavesdrop and even tamper with the communication content during the communication between the legal parties, which seriously threatens the security of the transmission of confidential information.

[0005] In recent years, the UAV technology has developed rapidly, and its robustness, endurance and payload capacity have been greatly improved. In the field of power inspection, UAV can fly along the route for inspection autonomously, reducing the operation threshold of the inspection personnel. At the same time, UAV is flexible and maneuverable, and can inspect high-voltage live equipment with a short safety distance, and can use the built-in high-definition camera to take close-up shots of the details of the power equipment.

[0006] However, in the current UAV inspection, there is relatively little research on integrating quantum key distribution into UAV for quantum encryption communication, and there is even a lack of mature UAV power inspection network based on quantum key distribution. SUMMARY

[0007] In order to overcome the deficiencies of the prior art, the present application provides a kind of unmanned aerial vehicle power inspection network and communication method based on quantum key online distribution, and a safe and reliable unmanned aerial vehicle power inspection network is constructed based on quantum key online distribution, further strengthens the power grid inspection deployment, improves the security level of inspection communication, and better meets the actual power inspection demand.

[0008] To achieve the above object, the present application provides the following technical solutions: In a first aspect, a kind of unmanned aerial vehicle power inspection network based on quantum key online distribution is provided, and the unmanned aerial vehicle power inspection network includes communication terminal, ground terminal and unmanned aerial vehicle cluster consisting of several unmanned aerial vehicles; Quantum key online distribution is used between unmanned aerial vehicle and ground terminal, between unmanned aerial vehicle and unmanned aerial vehicle, and between unmanned aerial vehicle and communication terminal, and quantum encryption communication is carried out based on quantum key.

[0009] Further, The unmanned aerial vehicle includes total control module, television investigation module and quantum communication unit for quantum encryption communication using single-photon level laser, the quantum communication unit includes transmitting module and receiving module, the transmitting module is divided into communication horizontal transmitting module and communication vertical transmitting module, and the receiving module is divided into communication horizontal receiving module and communication vertical receiving module; Communication horizontal transmitting module and communication horizontal receiving module are placed side by side and used for horizontal direction optical communication, and the plane formed by the central axis of the exit of communication horizontal transmitting module and the central axis of the receiving aperture of communication horizontal receiving module is parallel to the horizontal plane; Communication vertical transmitting module and communication vertical receiving module are placed side by side and used for vertical direction optical communication, and the plane formed by the central axis of the exit of communication vertical transmitting module and the central axis of the receiving aperture of communication vertical receiving module is parallel to the vertical plane; The television investigation module is used for investigation task; The total control module is used for overall control of unmanned aerial vehicle.

[0010] Further, The transmitting module includes quantum signal sending submodule and classical signal sending submodule, and the quantum signal sending submodule and the classical signal sending submodule each have a laser source with different wavelengths, and the two are shaped and combined by wavelength division multiplexing, and can work simultaneously and exit from the same channel. The quantum signal sending submodule is used for attenuating the exit light of the laser source to single-photon level, and preparing four quantum polarization states in the BB84 protocol of quantum key distribution.

[0011] Further, The quantum signal sending sub-module further comprises an intensity modulator, a quantum random number chip and an electrically controlled polarization modulator. The intensity modulator is used to adjust the outgoing light power and attenuate the quantum signal to a single photon level. The quantum random number chip is used to generate quantum random numbers and encode quantum states according to the quantum random numbers. The electrically controlled polarization modulator is used to prepare four quantum polarization states, which are controlled by the encoding results of the quantum random number chip.

[0012] Further, The receiving module comprises four single photon detectors, one strong light detector and a corresponding optical path structure. The single photon detector is used to receive quantum signals and can trigger a detector response once a photon is received, and the response result is converted into a single electrical signal. The strong light detector is used to receive classical signals and can receive continuous strong pulse signals, and the detection result is converted into a continuous electrical signal. The optical path structure of the receiving module comprises a polarization detection optical path, which is used to detect quantum signals and detect four different quantum polarization states respectively.

[0013] Further, The receiving module adopts a frequency domain and spatial domain filtering design to separate the quantum signal and the classical signal before detection.

[0014] Further, The total control module comprises a tracking system, a remote control system and a GPS positioning system. The tracking system is used for two-way alignment and tracking between two unmanned aerial vehicles, an unmanned aerial vehicle and a ground terminal or a communication terminal. The remote control system is used to connect to a remote terminal and receive remote instructions to control the unmanned aerial vehicle. The GPS positioning system is used to mark the position of the unmanned aerial vehicle, so as to align the communication between the two unmanned aerial vehicles, the unmanned aerial vehicle and the ground terminal or the communication terminal.

[0015] In a second aspect, a secure communication method for unmanned aerial vehicles based on quantum key online distribution is provided, which is applied to the unmanned aerial vehicle power inspection network based on quantum key online distribution as described above. The secure communication method comprises: The unmanned aerial vehicle reaches the specified communication position through remote control or autonomous control according to the GPS positioning system. After the unmanned aerial vehicle reaches the specified communication position, the unmanned aerial vehicle and the specified communication node are aligned for two-way transmission. After alignment, the unmanned aerial vehicle and the specified communication node perform quantum key online distribution and establish a secure shared key. After the establishment of the secure shared key, the two ends of the transceiver use the established secure shared key for quantum encryption communication; The specified communication node is a UAV, a ground terminal or a communication terminal.

[0016] Further, If the specified communication node is a UAV, two UAVs first arrive at the specified communication location, and then the two ends of the transceiver are aligned, including: After the two UAVs arrive at the specified communication location, the relative positions of the two UAVs are determined according to the GPS positioning system, and the two UAVs are rotated in place by autonomous control to perform coarse alignment, and it is determined whether the coarse alignment is successful; If the coarse alignment is successful, the two UAVs perform automatic fine alignment through the tracking and sighting system.

[0017] Further, If the specified communication node is a ground terminal or a communication terminal, the UAV first arrives at the specified communication location, and then the UAV and the specified communication node are aligned between the two ends of the transceiver, including: After the UAV arrives at the specified communication location, the UAV is rotated in place by autonomous control to perform coarse alignment, and it is determined whether the coarse alignment is successful; If the coarse alignment is successful, the UAV performs automatic fine alignment through the tracking and sighting system.

[0018] Further, The UAV uses an X-shaped four-rotor UAV.

[0019] Further, The UAV and the specified communication node perform quantum key online distribution and establish a secure shared key, including: The UAV performs quantum key online distribution with the specified communication node through a transmitting module and a receiving module; After the two ends of the transceiver obtain the original key, error correction and error checking are performed through classical communication; If the checking fails, the group of keys is discarded, and the key distribution continues; If the checking is successful, a secure shared key is successfully established.

[0020] Further, After the transmitting end obtains the original key, the key is used to act on a parity check matrix stored in advance and shared with the receiving end to generate an error correction syndrome, and the receiving end is sent through classical communication; The receiving end uses the error correction syndrome to correct the original key to obtain a corrected key.

[0021] Further, The transmitter also uses a universal hash function family to generate a corresponding hash value as an error check syndrome by acting on the original key, the universal hash function family is shared with the receiver, and the error check syndrome is also sent to the receiver through classical communication; After receiving the error check syndrome, the receiver uses its own error-corrected key to generate a hash value by acting on the universal hash function family, and compares the value with the error check syndrome of the transmitter; If they are the same, it is judged that the error check is successful, and the group key is retained; If they are different, it is judged that the error check fails, and the group key is discarded; The judgment result is sent to the transmitter through classical communication, and the transmitter performs corresponding operation according to the judgment result; The keys retained after the error check is successful are amplified by the transceiver to obtain a secure shared key.

[0022] Compared with the prior art, the present application has the following advantages: Based on the unmanned aerial vehicle technology and the quantum key distribution technology, the quantum key distribution process is integrated into the unmanned aerial vehicle cluster, and then an unmanned aerial vehicle power inspection network capable of secure communication is constructed, which can further strengthen the power grid inspection deployment and improve the security level of the inspection communication, so that the actual power inspection demand can be better met.

[0023] Other features and advantages of the present application will be described in the following description, and some will become apparent from the description, or will be understood by those skilled in the art. The purpose and other advantages of the present application can be achieved and obtained by the structure indicated in the specification, claims and drawings.

[0024] The present application will be further described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiment or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0026] Figure 1 The schematic diagram of quantum encryption communication of the unmanned aerial vehicle cluster in the unmanned aerial vehicle power inspection network based on quantum key online distribution according to an embodiment of the present application; Figure 2 The structural schematic diagram of the unmanned aerial vehicle and the equipment carried by the unmanned aerial vehicle according to an embodiment of the present application; Figure 3A schematic diagram of relative positions of an unmanned aerial vehicle intercommunication transceiving module according to an embodiment of the present application; Figure 4 A structural schematic diagram of a ground terminal according to an embodiment of the present application; Figure 5 A schematic diagram of quantum key online distribution and communication flow between communication nodes according to an embodiment of the present application; Figure 6 A schematic diagram of communication between an unmanned aerial vehicle and a ground terminal according to an embodiment of the present application; Figure 7 A schematic diagram of final key establishment flow according to an embodiment of the present application; Figure 8 A schematic diagram of coarse alignment flow of unmanned aerial vehicle intercommunication according to an embodiment of the present application; Figure 9 A schematic diagram of unmanned aerial vehicle intercommunication according to an embodiment of the present application; Figure 10 A schematic diagram of right rotation of an unmanned aerial vehicle according to an embodiment of the present application; Figure 11 A schematic diagram of communication between an unmanned aerial vehicle and a communication terminal according to an embodiment of the present application.

[0027] Markings in the figure: 1 - communication horizontal transmitting module, 2 - communication horizontal receiving module, 3 - total control module, 4 - communication vertical transmitting module, 5 - communication vertical receiving module, 6 - television investigation module. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the present application clearer, the technical scheme in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0029] In order to construct a safe and reliable unmanned aerial vehicle power patrol communication network, further strengthen the power grid patrol deployment, improve the security level of patrol communication, and strengthen the research on the quantum key distribution system and communication network of the unmanned aerial vehicle cluster, it has very important strategic significance.

[0030] As Figure 1As shown, the first embodiment of the present application provides a UAV power inspection network based on quantum key online distribution, which comprises a communication terminal (not shown in the figure), a ground terminal (not shown in the figure) and a UAV cluster composed of a plurality of UAVs; quantum key online distribution is adopted between the UAV and the ground terminal, between the UAVs and between the UAV and the communication terminal, and quantum encryption communication is carried out based on the quantum key.

[0031] The above technical solution is based on relatively mature UAV technology and quantum key distribution technology, and a safe and reliable UAV power inspection network is constructed based on quantum key online distribution. The technical solution can further strengthen the deployment of power grid inspection and improve the security level of inspection communication, thereby better meeting the actual power inspection needs.

[0032] In the present embodiment, the communication terminal is a fixed ground base station, which is different from the ground terminal. When the communication terminal receives the power inspection information from the UAV, the survey results can be transmitted to the remote control terminal through a cable or an optical fiber, and the power inspection personnel can check and investigate the security risks. The ground terminal has high integration and is easy to carry, and is mainly used for the work of the inspection personnel. When the inspection personnel cannot go to the inspection due to complex geographical environment, the UAV can be dispatched to check, and the inspection information can be received by the ground terminal to obtain the survey results. If the inspection personnel needs to continue the work, the known results can be transmitted through the UAV cluster and fed back to the communication terminal, and the person outside (the power inspection personnel) can further inspect.

[0033] In the present embodiment, the UAV plays two main roles in the entire power inspection: one is to reach the geographical location that the inspection personnel cannot approach for inspection and feedback the survey results; the other is to quickly transmit the survey results to facilitate the inspection personnel to quickly investigate the security risks.

[0034] As a preferred technical solution, the UAV comprises a total control module 3, a television investigation module 6 and a quantum communication unit for quantum encryption communication using single-photon-level laser, the quantum communication unit comprises a transmitting module and a receiving module, the transmitting module is divided into a communication horizontal transmitting module 1 and a communication vertical transmitting module 4, and the receiving module is divided into a communication horizontal receiving module 2 and a communication vertical receiving module 5; the communication horizontal transmitting module 1 and the communication horizontal receiving module 2 are placed side by side and are used for horizontal light communication, and the plane formed by the central axis of the communication horizontal transmitting module 1 and the central axis of the receiving aperture of the communication horizontal receiving module 2 is parallel to the horizontal plane; The communication vertical transmitting module 4 is placed side by side with the communication vertical receiving module 5 and is used for vertical light communication, the plane formed by the central axis of the communication vertical transmitting module 4 and the central axis of the receiving aperture of the communication vertical receiving module 5 is parallel to the vertical plane; the television investigation module 6 is used for performing investigation tasks; and the overall control module 3 is used for performing overall control of the unmanned aerial vehicle.

[0035] As a preferred technical solution, the transmitting module comprises a quantum signal sending sub-module and a classical signal sending sub-module, and the quantum signal sending sub-module and the classical signal sending sub-module each have a laser light source with different wavelengths, and the two are shaped and combined by wavelength division multiplexing, can work simultaneously, and are emitted from the same channel; the quantum signal sending sub-module is used for attenuating the emitted light of the laser light source to a single photon level, and preparing four quantum polarization states in compliance with the BB84 protocol of quantum key distribution.

[0036] As a preferred technical solution, the quantum signal sending sub-module further comprises an intensity modulator, a quantum random number chip and an electrically controlled polarization modulator; the intensity modulator is used for adjusting the power of the emitted light to attenuate the quantum signal to a single photon level; the quantum random number chip is used for generating quantum random numbers and encoding quantum states according to the quantum random numbers; and the electrically controlled polarization modulator is used for preparing four quantum polarization states, which are controlled by the encoding results of the quantum random number chip.

[0037] As a preferred technical solution, the receiving module comprises four single photon detectors, one strong light detector and corresponding optical path structures; the single photon detectors are used for receiving quantum signals, and can trigger the detector to respond once for each received photon, and convert the response results into single electrical signals; the strong light detector is used for receiving classical signals, and can receive continuous strong pulse signals, and converts the detection results into continuous electrical signals; and the optical path structure of the receiving module comprises a polarization detection optical path, which is used for detecting quantum signals and detecting four different quantum polarization states respectively.

[0038] As a preferred technical solution, the receiving module adopts frequency domain and spatial domain filtering design, separates the quantum signal and the classical signal, and then detects them.

[0039] As a preferred technical solution, the overall control module 3 comprises a tracking and aiming system, a remote control system and a GPS positioning system; the tracking and aiming system is used for alignment and tracking between two unmanned aerial vehicles, between the unmanned aerial vehicle and the ground terminal or the communication terminal; the remote control system is used for connecting to a remote terminal and receiving remote instructions to control the unmanned aerial vehicle; and the GPS positioning system is used for marking the position of the unmanned aerial vehicle, so as to align the communication between the two unmanned aerial vehicles, between the unmanned aerial vehicle and the ground terminal or the communication terminal.

[0040] The UAV as a communication node is equipped with a television investigation, quantum optical communication, a tracking and sighting system, a remote control system, a GPS and the like. It can not only communicate with a ground terminal (carried by a land patrol officer) to obtain investigation information, but also can perform a patrol task alone and send the investigation result to a UAV cluster network in a "one-time-one-key" manner, and then transmit the information to a communication terminal. A schematic diagram of the UAV and the equipment carried thereby is shown in Figure 2

[0041] In order to better cope with the hovering perturbation problem of the UAV, the UAV of the embodiment is equipped with a tracking and sighting system. After the rough alignment of the rotor of the UAV, fine alignment is performed to ensure that the central axes of the two ends of the transmission and reception are substantially consistent. The alignment situation can be tracked in real time and fine adjustment is performed to ensure that the whole communication process is carried out smoothly.

[0042] In order to better cope with the problem of safe communication, unlike the conventional quantum communication, the communication transmission and reception module of the UAV of the embodiment is integrated with a quantum key distribution system. A safe key can be established in real time at the two ends of the transmission and reception, and the patrol information is encoded by the key for safe transmission of the investigation result in a "one-time-one-key" manner, so that the confidential information is difficult to be stolen.

[0043] The above preferred embodiments will be further described below. Figure 2

[0044] As to the transmission module, the communication horizontal transmission module 1 and the communication vertical transmission module 4 are designed in the same way. Here, the communication horizontal transmission module 1 is taken as an example for description.

[0045] The information transmitted by the communication horizontal transmission module 1 includes quantum signals and classical signals. Therefore, the module includes a quantum signal transmission sub-module and a classical signal transmission sub-module. Each of the two sub-modules has a laser light source with a different wavelength. The two sub-modules are shaped and combined by wavelength division multiplexing and can work at the same time and be emitted from the same channel. In addition, the quantum signal transmission part (i.e. the quantum signal transmission sub-module) further includes an intensity modulator, a quantum random number chip and an electrically controlled polarization modulator. The intensity modulator is used to adjust the emitted light power and can attenuate the quantum signal to a single photon level. The quantum random number chip is used to generate a quantum random number. The quantum state is encoded according to the random number, for example, 00 is used to transmit a horizontal linear polarization state, 01 is used to transmit a vertical linear polarization state, 10 is used to transmit a 45° linear polarization state and 11 is used to transmit a 135° linear polarization state. The electrically controlled polarization modulator is used to prepare four quantum linear polarization states which are controlled by the encoding results of the quantum random number chip. In summary, the quantum signal transmission part can prepare four quantum polarization states in accordance with the classical BB84 protocol of quantum key distribution.

[0046] As to the reception module, the communication horizontal reception module 2 and the communication vertical reception module 5 are designed in the same way. Here, the communication horizontal reception module 2 is taken as an example for description.​​

[0047] The communication level receiving module 2 comprises four single photon detectors, one strong light detector and a certain optical path structure. The single photon detector is used for receiving quantum signals, and can trigger a detector response once receiving one photon, and converts the response result into a single electrical signal. The strong light detector is used for receiving classical signals, and can receive continuous strong pulse signals, and converts the detection result into a continuous electrical signal. At the same time, the module has a frequency domain and spatial domain filtering design, which can effectively avoid the interference of the communication level transmitting module 1, and can separate and detect the quantum signals and the classical signals. For the quantum signals, the module has a polarization detection optical path, which can detect four different polarization states of horizontal, vertical, 45° and 135° respectively.

[0048] The total control module 3 comprises a power supply drive, a tracking and sighting system, a control chip, a data processing module, a remote control system and a GPS positioning system. The power supply drive is used to supply power to the whole communication system and the unmanned aerial vehicle rotor. The tracking and sighting system is used to align and track the two ends of the receiving and transmitting between the two unmanned aerial vehicles, the unmanned aerial vehicle and the ground or the communication terminal, so as to ensure that the signal of the transmitting end can be received by the receiving end. The control chip is used to connect the remote control module, the data processing module, the tracking and sighting system, the communication module and the unmanned aerial vehicle rotor. When the control chip receives the moving instruction from the remote control module, the unmanned aerial vehicle rotor is driven to adjust the position of the unmanned aerial vehicle. When the alignment instruction is received, the tracking and sighting system is driven to work. When the communication instruction is received, the communication transmitting and receiving modules are driven to work. When the detection response from the receiving module is received, the detection result is transmitted to the data processing module. The data processing module is used to encode the information to be sent by the sending module and decode the received information, and stores the decoded information. The remote control module can be connected to the remote terminal to receive the remote instruction to control the unmanned aerial vehicle. The GPS positioning system is used to mark the position of the unmanned aerial vehicle, so as to facilitate the alignment communication between the two unmanned aerial vehicles in the unmanned aerial vehicle cluster and between the unmanned aerial vehicle and other terminals (ground terminal or communication terminal).

[0049] The television investigation module 6 is equipped with a high-definition zoom camera, and can perform investigation tasks.

[0050] It should be noted that in actual assembly, the communication level transmitting module 1 and the quantum communication level receiving module 2 are placed side by side, the communication vertical transmitting module 4 and the quantum communication vertical receiving module 5 are placed side by side, the center axes of the transmitting module and the receiving module are parallel to the horizontal plane or the vertical plane, and the center axes are fixed relative to the position of the unmanned aerial vehicle. Before the tracking and sighting system is aligned, the unmanned aerial vehicle rotor needs to rotate the body to coarsely align the center axes of the receiving and transmitting ends, and then the communication is performed after the fine alignment by the tracking and sighting system.

[0051] It should be noted that the horizontal transmitting module and receiving module of the two unmanned aerial vehicles meeting the communication condition are arranged in an X shape (as shown in Figure 3 ).

[0052] The ground terminal includes a portable notebook computer (upper computer) and a miniaturized communication device, as shown in Figure 4 . The upper computer is installed with a control interface, and the miniaturized communication device is similar to the device in the unmanned aerial vehicle (i.e., the transmitting module and the receiving module) and has both transmitting and receiving functions. The miniaturized communication device of the embodiment is only provided with the transmitting module and the receiving module for vertical optical communication.

[0053] It should be noted that the interval between the outgoing central axis and the receiving aperture central axis in the unmanned aerial vehicle and the ground communication module (i.e., the ground terminal) is the same. Therefore, when the receiving aperture of the unmanned aerial vehicle is aligned with the outgoing light beam of the ground terminal, the outgoing light central axis of the unmanned aerial vehicle will also be within the receiving range of the receiving aperture of the ground terminal.

[0054] The second embodiment of the present application provides a secure communication method for unmanned aerial vehicles based on quantum key online distribution, which is applied to the unmanned aerial vehicle power inspection network based on quantum key online distribution as described above. The secure communication method comprises: the unmanned aerial vehicle is positioned according to the GPS positioning system, and reaches the designated communication position through remote control or autonomous control; after the unmanned aerial vehicle reaches the designated communication position, the unmanned aerial vehicle and the designated communication node are aligned at both ends of the receiving and transmitting; after the alignment is completed, the unmanned aerial vehicle and the designated communication node perform quantum key online distribution, and establish a secure shared key; after the secure shared key is established, the receiving and transmitting ends use the established secure shared key for quantum encryption communication; the designated communication node is the unmanned aerial vehicle, the ground terminal or the communication terminal.

[0055] In the above technical solution, the quantum key distribution and communication between the communication nodes include the communication between the ground terminal (carried by the land inspector) and the unmanned aerial vehicle, the information transmission between the unmanned aerial vehicle nodes in the unmanned aerial vehicle cluster network, and the communication between the unmanned aerial vehicle and the communication terminal; the main steps of the communication process of the three are as shown in Figure 5 .

[0056] As shown in Figure 5As shown in the figure, the unmanned aerial vehicle reaches the designated communication position according to the GPS positioning, and reaches the designated communication position through remote control or autonomous control. If the unmanned aerial vehicle communicates with the ground terminal (carried by the land patrol officer), after reaching the designated position, the tracking and aiming system will automatically aim at the ground terminal carried by the patrol officer. After the aiming is completed, the unmanned aerial vehicle starts the quantum key online distribution between the land using the communication vertical transmission and receiving module, and after the original key is obtained at both ends of the transmission and receiving, the error correction and error checking are performed through classical communication. If the checking is successful, the secure shared key can be established; if the checking fails, the key distribution is continued. Finally, the transmission and receiving ends use the established secure shared key to perform the quantum encryption communication of "one-time one-multiple".

[0057] As shown in the figure, the unmanned aerial vehicle communicates with the ground terminal (carried by the land patrol officer) as Figure 6 As shown in the figure, the final key (i.e. the secure shared key) establishment process is as Figure 7

[0058] As a preferred technical solution, the unmanned aerial vehicle adopts an X-shaped four-rotor unmanned aerial vehicle. The unmanned aerial vehicle of the embodiment of the application adopts an X-shaped four-rotor unmanned aerial vehicle, which can well meet the actual design requirements.

[0059] As a preferred technical solution, if the designated communication node is an unmanned aerial vehicle, two unmanned aerial vehicles first reach the designated communication position, and then perform the alignment at both ends of the transmission and receiving, including: after the two unmanned aerial vehicles reach the designated communication position, the relative positions of the two unmanned aerial vehicles are determined according to the GPS positioning system, and the unmanned aerial vehicles are rotated in place through autonomous control to perform coarse alignment, and it is determined whether the coarse alignment is successful; if the coarse alignment is successful, the two unmanned aerial vehicles perform automatic fine alignment through the tracking and aiming system.

[0060] When the unmanned aerial vehicle completes the communication with the ground terminal (carried by the land patrol officer) or autonomously performs the investigation task, the communication between the unmanned aerial vehicle nodes is also needed, and then the investigation results are transmitted to the unmanned aerial vehicle communication network, and finally transmitted to the communication terminal. When the two unmanned aerial vehicles reach the designated position, the relative positions of the two unmanned aerial vehicles to be communicated are determined according to the GPS positioning system, and the directions of the transmission and receiving of the communication module of the unmanned aerial vehicle are further adjusted, and the approximate process of the coarse alignment is as Figure 8 As shown in the figure, the schematic diagram of the communication between the unmanned aerial vehicles is as Figure 9

[0061] In order to better illustrate the construction of the unmanned aerial vehicle cluster information transmission network, the alignment process between the two unmanned aerial vehicles in the unmanned aerial vehicle cluster information transmission network is further described below.

[0062] ​​1. The communication terminal sends communication commands to two drones that meet the communication conditions and informs them of the designated location to be reached via the GPS positioning system. During flight, the drones autonomously control different rotors to accelerate / decelerate, causing the drones to move towards the target direction. 2. After the two drones reach the designated communication location, their relative positions are determined using the GPS system. They then autonomously turn in place to achieve coarse alignment. For example, turning right in place... Figure 10 The diagram shows the forces and motion of a quadcopter drone, with the communication module's output / receive direction facing forward. When the rotational speeds of rotors 2 and 4 are increased, or the rotational speeds of rotors 1 and 3 are decreased, the overall resultant torque of the drone is clockwise, causing the drone to rotate to the right. Conversely, when the rotational speeds of rotors 1 and 3 are increased, or the rotational speeds of rotors 2 and 4 are decreased, the overall resultant torque of the drone is counterclockwise, causing the drone to rotate to the left.

[0063] 3. When both UAVs can receive the classical optical signal emitted by the other, it can be assumed that their emission / reception directions are basically overlapping. The tracking and aiming system completes the coarse alignment decision and then triggers the fine alignment module to start working, and the two perform an automatic fine alignment process.

[0064] As a preferred technical solution, if the designated communication node is a ground terminal or a communication terminal, the UAV first arrives at the designated communication location, and then the UAV and the designated communication node perform alignment between the transmitting and receiving ends, including: after the UAV arrives at the designated communication location, it performs coarse alignment by autonomously controlling its rotation in place, and determines whether the coarse alignment is successful; if the coarse alignment is successful, the UAV performs automatic fine alignment through the tracking and aiming system.

[0065] When the designated communication node is a ground terminal or a communication terminal, the alignment process is similar to that between the two UAVs mentioned above. The position of the ground terminal or communication terminal remains fixed, and only the UAV adjusts its position accordingly. If the UAV is communicating with a communication terminal, the UAV needs to first reach the receiving range of the communication terminal on its own, and then go through a process similar to the alignment between the two UAVs mentioned above, successively completing the in-situ rotation coarse alignment and automatic fine alignment processes, before it can communicate with the communication terminal. The communication diagram is shown below. Figure 11 As shown.

[0066] As a preferred technical solution, the UAV performs online quantum key distribution with the designated communication node and establishes a secure shared key, including: the UAV performs online quantum key distribution with the designated communication node through a transmitting module and a receiving module; after the transmitting and receiving ends obtain the original key, they perform error correction and error verification through classical communication; if the verification fails, the key set is discarded and key distribution continues; if the verification succeeds, a secure shared key is successfully established.

[0067] As a preferred technical solution, after the transmitter obtains the original key, the transmitter uses the key to act on the parity check matrix stored in advance and shared with the receiver to generate an error correction syndrome, and sends the error correction syndrome to the receiver through classical communication; the receiver uses the error correction syndrome to correct the original key to obtain a corrected key.

[0068] As a preferred technical solution, the transmitter also uses a universal hash function family to act on the original key to generate a corresponding hash value as an error check syndrome, the universal hash function family is shared with the receiver, and the error check syndrome is also sent to the receiver through classical communication; after receiving the error check syndrome, the receiver uses its own corrected key to act on the universal hash function family to generate a hash value, and compares the value with the error check syndrome of the transmitter; if they are the same, it is judged that the error check is successful, and the key is retained; if they are different, it is judged that the error check fails, and the key is discarded; the above judgment result is sent to the transmitter through classical communication, and the transmitter performs corresponding operation according to the judgment result; the transmitter and the receiver perform private amplification on the keys retained after the error check is successful to obtain a secure shared key.

[0069] Next, taking the communication between the unmanned aerial vehicle and the ground terminal as an example, the above-mentioned key establishment process is combined with the actual situation of the unmanned aerial vehicle and the ground terminal. Figure 7 The final key establishment process between the unmanned aerial vehicle and the ground terminal is further described.

[0070] 1. After automatic alignment is completed, the receiver enters a receiving state immediately, the transmitter first sends a synchronization signal and a quantum signal of a specific frequency and quantity, and the receiver establishes timing synchronization with the transmitter according to the detection result. After timing synchronization is established, the quantum key online distribution link is entered, the outgoing light of the transmitter laser first passes through a polarization modulator controlled by a quantum random number to prepare quantum signals of four different polarization states and retain state preparation information, and then is adjusted to a single photon level by an intensity attenuator, and is emitted to the receiver through the unmanned aerial vehicle optical channel. The receiver is built-in a polarization state detection optical path composed of a plurality of beam splitters, polarization beam splitters, dichroic mirrors and four single photon detectors. When only one detector responds, the data processing module of the receiver records the sequential number of the quantum signal in the time domain and its base selection result in the original data storage in turn.

[0071] 2、When the control chip detects that the original data memory is not empty, it will drive the classical laser to send the original data to the transmitting end. The classical communication is strong light communication. After the transmitting end receives the original data from the receiving end, it compares it with its own state preparation information, filters out the correct signal selection of the receiving end, records its corresponding sequence number, and at the same time, publishes the basis selection result with a probability of 5% to 20%, which is used for error code estimation by the receiving end, and the remaining basis selection error signal is discarded. For the basis selection correct signal, the transmitting end extracts the key bit in the corresponding state preparation information, and then the original key information can be obtained.

[0072] 3、The transmitting end also uses classical communication to send the basis information to the receiving end. After receiving the basis information, the receiving end uses a similar basis process to filter out the basis selection correct part in the original data and extract the key bit information, so that the original key can be preliminarily established with the transmitting end. In addition, for the basis selection public data, the receiving end compares its own detection results with it. If the results are the same, it is judged as a code, which is counted into the code rate for statistical security key generation rate; if the results are different, it is judged as an error code, which is counted into the error code rate for error correction in the later stage. When the statistical error rate is higher than the safety threshold, it means that there may be an eavesdropper in the channel, so the legal parties need to stop the quantum key distribution process, and then restart after checking the surrounding environment and hardware facilities. In addition, it should be noted that the signal used for error code estimation by public basis selection will not be counted into the original key by both the transmitting end and the receiving end.

[0073] 4、After the transmitting end obtains the original key, it immediately uses the key to act on the parity check matrix stored in advance and shared with the receiving end to generate an error correction check sub, which is also sent to the receiving end through a classical channel. The receiving end uses the check sub to correct the original key and obtains the corrected key.

[0074] 5、In addition, the transmitting end will also use a universal hash function family to act on the original key to generate a corresponding hash value as an error check check sub. The hash function family is also shared with the receiving end, and the check sub also needs to be sent to the receiving end through classical communication. During the quantum key distribution process, the basis information, error correction check sub and error check check sub are all communicated through classical communication, so the transmission priority needs to be set: error check check sub > error correction check sub > basis information.

[0075] 6. After receiving the error checksum, the receiving end uses its own corrected key and hash function set to generate a hash value, which is then compared with the error checksum from the transmitting end. If they match, the error check is considered successful, and the key set is retained; if they differ, the error check is considered unsuccessful, and the key set is discarded. The result is sent to the transmitting end via classical communication, and the transmitting end performs the same operation as above. Both ends apply the key retained after successful error check to another shared matrix with a much larger number of columns than rows; this process is called privacy amplification. Finally, both ends obtain a shared quantum key with fewer bits and a higher security level.

[0076] In summary, this invention mainly includes three aspects: first, the design of UAVs and ground terminals; second, the realization of online quantum key distribution and communication process between communication nodes; and third, the construction of UAV swarm information transmission network.

[0077] This invention is based on relatively mature UAV technology and quantum key distribution technology. It uses single-photon level laser as the main means of quantum encrypted communication in UAV networks and adopts the BB84 quantum key distribution protocol to provide a UAV power grid inspection network and communication method based on online quantum key distribution. This enables online quantum key distribution and successful establishment of quantum keys between ground terminals (carried by ground inspectors) and UAVs, between UAV nodes in a UAV cluster, and between UAVs and communication terminals. After completing the power grid inspection, the information is encrypted and transmitted to the UAV cluster network and communication terminals in a "one-time pad" manner.

[0078] This invention combines the relatively mature but isolated UAV technology with quantum key distribution technology. The UAV can not only complete patrol tasks independently, but also establish a connection with the ground terminal (carried by the land patrolman) to transmit the reconnaissance results to the communication network and communication terminal as a communication relay, thereby assisting the power grid management platform to judge the potential faults and fault locations more quickly based on the reconnaissance results.

[0079] Furthermore, this drone-based power grid inspection network incorporates fundamental principles of quantum mechanics during communication. This enables quantum key distribution between legitimate communicating parties, effectively preventing and detecting eavesdropping, establishing a relatively secure quantum key, and ultimately achieving "one-time pad" quantum encrypted communication. Because of the quantum communication scheme employed in this drone-based power grid inspection network, the communication process is more secure and reliable, with a higher level of confidentiality for the transmission of classified information. This helps the power grid management platform protect the core technologies of the national power grid and strengthens power grid security deployment.

[0080] The UAV power line inspection network and communication method based on online quantum key distribution of this invention includes at least the following features: 1. The technical solution is an innovative solution under the cross of disciplines, which combines relatively mature unmanned aerial vehicle technology and quantum key distribution technology, and can exhibit the advantages of multi-technology combination; 2. The unmanned aerial vehicle power patrol network of the technical solution not only has high autonomous investigation capability and can independently perform investigation tasks, but also has human-computer interaction function and can be used as a communication relay between legal communication parties, so that information can be quickly transmitted through the unmanned aerial vehicle network; 3. The content of the technical solution is based on quantum theory, and quantum keys are established by using the true randomness of the quantum world, so that theoretically unconditional secure quantum secret communication can be realized. Compared with traditional communication methods, the security and privacy are higher, and it is more in line with the requirements of secret communication.

[0081] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0082] The parts not involved in the above embodiments are the same as or can be realized by the prior art, and will not be further described here.

[0083] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A UAV power inspection network based on quantum key online distribution, characterized in that, The unmanned aerial vehicle power inspection network comprises a communication terminal, a ground terminal and an unmanned aerial vehicle cluster composed of a plurality of unmanned aerial vehicles; Quantum key online distribution is adopted between the unmanned aerial vehicles and the ground terminal, between the unmanned aerial vehicles and between the unmanned aerial vehicles and the communication terminal, and quantum encryption communication is carried out based on the quantum key.

2. The unmanned aerial vehicle power inspection network based on quantum key online distribution according to claim 1, wherein the unmanned aerial vehicle comprises a total control module, a television investigation module and a quantum communication unit for quantum encryption communication by using single-photon-level laser, the quantum communication unit comprises a transmitting module and a receiving module, the transmitting module is divided into a communication horizontal transmitting module and a communication vertical transmitting module, and the receiving module is divided into a communication horizontal receiving module and a communication vertical receiving module. The communication horizontal transmitting module and the communication horizontal receiving module are placed side by side and are used for horizontal light communication, a plane formed by a central axis of the communication horizontal transmitting module and a central axis of a receiving aperture of the communication horizontal receiving module is parallel to a horizontal plane. The communication vertical transmitting module and the communication vertical receiving module are placed side by side and are used for vertical light communication, a plane formed by a central axis of the communication vertical transmitting module and a central axis of a receiving aperture of the communication vertical receiving module is parallel to a vertical plane. The television investigation module is used for investigation tasks. The total control module is used for overall control of the unmanned aerial vehicle.

3. The unmanned aerial vehicle power inspection network based on quantum key online distribution according to claim 2, wherein the transmitting module comprises a quantum signal sending sub-module and a classical signal sending sub-module, the quantum signal sending sub-module and the classical signal sending sub-module each have a laser source with different wavelengths, the two sub-modules are shaped and combined by wavelength division multiplexing and can work simultaneously and emit from the same channel. The quantum signal sending sub-module is used for attenuating the laser source emission light to a single-photon level and preparing four quantum polarization states in accordance with the BB84 protocol of quantum key distribution.

4. The unmanned aerial vehicle power inspection network based on quantum key online distribution according to claim 3, wherein the quantum signal sending sub-module further comprises an intensity modulator, a quantum random number chip and an electrically-controlled polarization modulator. The intensity modulator is used for adjusting the emission light power to attenuate the quantum signal to a single-photon level. The quantum random number chip is used for generating quantum random numbers and encoding quantum states according to the quantum random numbers. The electrically-controlled polarization modulator is used for preparing four quantum polarization states and is controlled by the encoding results of the quantum random number chip.

5. The unmanned aerial vehicle power inspection network based on quantum key online distribution according to claim 3, wherein the receiving module comprises four single-photon detectors, one strong light detector and corresponding optical path structures. The single-photon detectors are used for receiving quantum signals and can trigger a detector response once for each received photon, and convert the response results into single electrical signals. The strong light detector is used for receiving classical signals and can receive continuous strong pulse signals and convert the detection results into continuous electrical signals. ​ ​ ​ ​ The optical path structure of the receiving module includes a polarization detection optical path, which is used for detecting quantum signals and detecting four different quantum polarization states respectively.

6. The unmanned aerial vehicle power inspection network based on quantum key online distribution according to claim 5, wherein, The receiving module adopts frequency domain and spatial domain filtering design, separates the quantum signal and the classical signal, and then detects them.

7. The unmanned aerial vehicle power inspection network based on quantum key online distribution according to any one of claims 2-6, wherein, The total control module includes a tracking system, a remote control system and a GPS positioning system; The tracking system is used for two-way alignment and tracking between two unmanned aerial vehicles, unmanned aerial vehicles and ground terminals or communication terminals; The remote control system is used to connect to a remote terminal and receive remote instructions to control the unmanned aerial vehicle; The GPS positioning system is used to mark the position of the unmanned aerial vehicle, so that the two unmanned aerial vehicles, the unmanned aerial vehicle and the ground terminal or the communication terminal are aligned for communication.

8. A method for secure communication of UAVs based on online distribution of quantum keys, applied to the UAV power inspection network based on online distribution of quantum keys in claim 7, characterized in that, The security communication method comprises: The unmanned aerial vehicle reaches the specified communication position according to the GPS positioning system, and reaches the specified communication position through remote control or autonomous control; After the unmanned aerial vehicle reaches the specified communication position, the unmanned aerial vehicle and the specified communication node are aligned for two-way transmission; After alignment, quantum key online distribution is carried out between the unmanned aerial vehicle and the specified communication node, and a secure shared key is established; After the establishment of the secure shared key, the two-way transmission uses the established secure shared key for quantum encryption communication; The specified communication node is an unmanned aerial vehicle, a ground terminal or a communication terminal.

9. The unmanned aerial vehicle security communication method based on quantum key online distribution according to claim 8, wherein, If the specified communication node is an unmanned aerial vehicle, two unmanned aerial vehicles first reach the specified communication position, and then align for two-way transmission, including: After the two unmanned aerial vehicles reach the specified communication position, the relative positions of the two unmanned aerial vehicles are judged according to the GPS positioning system, and the two unmanned aerial vehicles are rotated in place through autonomous control for coarse alignment, and whether the coarse alignment is successful is judged; If the coarse alignment is successful, the two unmanned aerial vehicles are automatically fine aligned through the tracking system.

10. The unmanned aerial vehicle security communication method based on quantum key online distribution according to claim 8, wherein, If the specified communication node is a ground terminal or a communication terminal, the unmanned aerial vehicle first reaches the specified communication position, and then aligns for two-way transmission between the unmanned aerial vehicle and the specified communication node, including: After the unmanned aerial vehicle reaches the specified communication position, the unmanned aerial vehicle is rotated in place through autonomous control for coarse alignment, and whether the coarse alignment is successful is judged; If the coarse alignment is successful, the unmanned aerial vehicle is automatically fine aligned through the tracking system.

11. The unmanned aerial vehicle security communication method based on quantum key online distribution according to any one of claims 8-10, wherein, The unmanned aerial vehicle adopts an X-shaped four-rotor unmanned aerial vehicle.

12. The unmanned aerial vehicle security communication method based on quantum key online distribution according to claim 8, wherein, The quantum key online distribution between the unmanned aerial vehicle and the specified communication node and the establishment of the secure shared key comprise: The unmanned aerial vehicle performs quantum key online distribution with the designated communication node through a transmitting module and a receiving module; After obtaining the original key at both the transmitting end and the receiving end, error correction and error checking are performed through classical communication; If the checking fails, the set of keys is discarded, and the key distribution continues; If the checking succeeds, the secure shared key is successfully established.

13. The unmanned aerial vehicle secure communication method based on quantum key online distribution according to claim 12, wherein After obtaining the original key at the transmitting end, the key is used to act on the parity check matrix stored in advance and shared with the receiving end to generate an error correction syndrome, which is sent to the receiving end through classical communication; The receiving end uses the error correction syndrome to correct the original key to obtain the corrected key.

14. The unmanned aerial vehicle secure communication method based on quantum key online distribution according to claim 13, wherein The transmitting end also uses a universal hash function family to act on the original key to generate a corresponding hash value as an error checking syndrome, the universal hash function family is shared with the receiving end, and the error checking syndrome is also sent to the receiving end through classical communication; After receiving the error checking syndrome, the receiving end uses its own corrected key to act on the universal hash function family to generate a hash value, and compares the value with the error checking syndrome of the transmitting end; If they are the same, it is judged that the error checking is successful, and the set of keys is retained; If they are different, it is judged that the error checking fails, and the set of keys is discarded; The above judgment result is sent to the transmitting end through classical communication, and the transmitting end performs corresponding operations according to the judgment result; The transmitting end and the receiving end perform private amplification on the keys retained after the error checking succeeds to obtain the secure shared key.

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