Unmanned aerial vehicle sensitive data transmission method and system based on Beidou space-time encryption

Abstract

The application provides a Beidou space-time encryption-based unmanned aerial vehicle sensitive data transmission method and system. First, the application fuses Beidou positioning data and trusted time stamps, and the flight height and heading angle data of the unmanned aerial vehicle to generate a space-time reference code. Second, the application uses multipath fading characteristics to obtain channel impulse response characteristics, and jointly encodes the two to generate a dynamic encryption seed. Third, the application drives a stream cipher generator to obtain encrypted insulator surface image data stream. Then, while sending the encrypted insulator surface image data stream, the application appends Beidou positioning data and channel impulse response characteristics as verification metadata to the data packet, so that the receiving end can synchronize the dynamic encryption seed to restore and complete decryption operations. The technical scheme provided by the application not only realizes strong association binding of the encryption key and a specific space-time point, but also effectively overcomes the security risks of fixed and unchanged keys in traditional encryption schemes, and realizes the unity of security and usability.

Description

Technical Field

[0001] This application relates to the technical field of combining spatiotemporal information with UAV communication channel characteristics, and in particular to a method and system for transmitting sensitive UAV data based on BeiDou spatiotemporal encryption. Background Technology

[0002] In public safety applications such as security for large-scale events and patrols of important facilities, drones need to transmit high-definition video streams and precise positioning data in real time. This data contains sensitive on-site situational information, which places extremely high demands on the real-time performance and anti-theft capabilities of the transmission process.

[0003] The currently widely adopted solution is based on static key encryption using the Advanced Encryption Standard (AES) algorithm combined with the Transport Layer Security (TLS) protocol. This solution establishes a secure channel by pre-generating encryption keys and performs end-to-end encrypted transmission of video data collected by drones.

[0004] However, the existing solution still has obvious flaws. Its encryption key remains fixed within a single mission cycle, and the encryption process is completely unrelated to the real-time spatial position, flight attitude and other dynamic parameters of the drone. Once the key is cracked or the certificate is stolen, the security of the entire transmission process will be completely destroyed, and it cannot provide dynamic security protection that is linked with spatiotemporal reference for drones in a continuous state of motion. Summary of the Invention

[0005] This application provides a method and system for transmitting sensitive data from unmanned aerial vehicles (UAVs) based on BeiDou spatiotemporal encryption, which solves the security risks caused by the fixed encryption key during the mission cycle in the prior art, as well as the problem that the encryption process is completely disconnected from the dynamic parameters such as the real-time spatial position and flight attitude of the UAV.

[0006] Firstly, this application provides a method for transmitting sensitive data from unmanned aerial vehicles (UAVs) based on BeiDou spatiotemporal encryption, including:

[0007] Based on the positioning data and reliable timestamps provided by the BeiDou Navigation Satellite System, and the flight altitude and heading angle data provided in real time by the UAV flight control system, a spatiotemporal reference code bound to the flight trajectory is generated through fusion calculation.

[0008] By utilizing the multipath fading characteristics of the wireless channel between the UAV and the ground fixed receiving station, the channel impulse response characteristics are obtained in real time, and the spatiotemporal reference code and the channel impulse response characteristics are jointly encoded to generate a dynamic encryption seed that changes once.

[0009] The dynamic encryption seed-driven stream cipher generator is used to encrypt the insulator surface image data stream collected by the UAV's high-definition camera in real time to generate an encrypted insulator surface image data stream.

[0010] The encrypted insulator surface image data stream is sent. At the same time as sending the encrypted insulator surface image data stream, the BeiDou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed are attached to the data packet as verification metadata, so that the receiving end can synchronously restore the dynamic encryption seed to complete the decryption operation.

[0011] Optionally, based on positioning data and reliable timestamps provided by the BeiDou Navigation Satellite System, and real-time flight altitude and heading angle data provided by the UAV flight control system, a spatiotemporal reference code bound to the flight trajectory is generated through fusion calculation, including:

[0012] The longitude value, latitude value, and trusted timestamp in the positioning data are concatenated in a preset order to form a first data sequence;

[0013] The flight altitude and heading angle data are combined to form a second data sequence;

[0014] Perform a bit-by-bit alternation insertion operation on the first data sequence and the second data sequence to generate a combined data block;

[0015] Perform multiple rounds of cyclic shift operations on the combined data block to obtain a combined data block that has undergone shift operations;

[0016] The combined data block after the shift operation is divided into multiple segments, and the multiple segments are rearranged in order to obtain the rearranged complete data block;

[0017] The rearranged complete data block is compressed and transformed to generate a spatiotemporal reference code bound to the flight trajectory.

[0018] Optionally, the channel impulse response characteristics are obtained in real time by utilizing the multipath fading characteristics of the wireless channel between the UAV and the ground fixed receiving station, including:

[0019] The drone generates and transmits a detection signal of a specific format to the ground-based fixed receiving station;

[0020] Based on the transmitted detection signal, a response signal is received from the ground fixed receiving station;

[0021] The signal strength values ​​at multiple time delay points are extracted from the response signal to form an initial feature sequence;

[0022] Peak detection is performed on the initial feature sequence to identify feature points with intensity exceeding the average intensity;

[0023] The identified feature points are arranged in order of time delay to form a time feature sequence;

[0024] The length of the time feature sequence is adjusted according to the real-time flight speed of the UAV;

[0025] A preset number of feature values ​​are selected from the adjusted time feature sequence to form the channel impulse response feature.

[0026] Optionally, the spatiotemporal reference code and the channel impulse response characteristics are jointly encoded to generate a dynamically changing encryption seed, including:

[0027] The spatiotemporal reference code is used as the first data block, and the channel impulse response characteristics are used as the second data block.

[0028] A separator is inserted between the first data block and the second data block to form a combined data sequence;

[0029] The combined data sequence is segmented into segments of fixed length to obtain multiple data segments;

[0030] A data segment at a specific location is selected from the plurality of data segments, and the selection rule is based on the last value of the channel impulse response characteristics;

[0031] The values ​​in the selected data segments are arranged in a preset order, and a bitwise XOR operation is performed on the arranged value sequence to generate intermediate encoding results.

[0032] The intermediate encoding result is modulo-added with the first value of the spatiotemporal reference code to obtain the modulo-add result;

[0033] The result of the modulo addition operation is cyclically shifted left, and the result after the shift operation is used as a dynamic encryption seed. The number of shift bits is determined by the first value of the channel impulse response feature.

[0034] Optionally, the dynamic encryption seed-driven stream cipher generator is used to encrypt the insulator surface image data stream acquired by the UAV's high-definition camera in real time to generate an encrypted insulator surface image data stream, including:

[0035] The dynamic encryption seed is input as an initial parameter into the pre-built stream cipher generator to initialize the internal state of the stream cipher generator, thus obtaining the initialized stream cipher generator.

[0036] Read the image frame data in the insulator surface image data stream sequentially, and divide each image frame data into a data block of fixed size;

[0037] A nonlinear transformation is performed on the current internal state of the initialized stream cipher generator to generate a key stream segment that matches the length of the data block;

[0038] Perform a bitwise XOR operation between the key stream segment and the pixel values ​​in the current data block to obtain the data block after the XOR operation.

[0039] The data blocks after the XOR operation are reassembled into encrypted image frames in their original order, and a frame sequence number is added to each encrypted image frame to generate an encrypted insulator surface image data stream.

[0040] Optionally, the key stream segment is XORed bit by bit with the pixel values ​​in the current data block to obtain the XORed data block, including:

[0041] Convert each pixel value in the current data block into a fixed-length binary byte sequence;

[0042] The key stream segment is divided into multiple key units of the same length as the binary byte sequence;

[0043] Perform a bitwise XOR operation on the binary byte sequence corresponding to each pixel value and the key unit at the corresponding position in sequence to obtain each binary byte sequence after the XOR operation.

[0044] Convert each binary byte sequence after the XOR operation back to pixel value format to obtain the converted pixel value;

[0045] The converted pixel values ​​are recombined in their original order to generate a data block after the XOR operation.

[0046] Optionally, the encrypted insulator surface image data stream is sent, and simultaneously, the BeiDou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed are appended as verification metadata to the data packet, enabling the receiving end to synchronously reconstruct the dynamic encryption seed and complete the decryption operation, including:

[0047] The encrypted insulator surface image data stream is packaged according to the communication protocol format to form a transmission data packet;

[0048] Extract longitude, latitude, and elevation values ​​from the BeiDou positioning data used when generating the dynamic encrypted seed;

[0049] Extract the values ​​corresponding to the first three amplitude peaks from the channel impulse response features used when generating the dynamic encryption seed;

[0050] The longitude, latitude, and elevation values ​​are combined with the first three amplitude peak values ​​in a preset order to form a verification data block;

[0051] The verification data block is segmented to obtain multiple verification data segments, and verification information calculated based on the content of the verification data segment is appended to the end of each verification data segment.

[0052] Insert the verification data segments with additional verification information into the reserved verification area in the header of the data packet in sequence;

[0053] An identifier is set at the beginning of the verification area to indicate the starting boundary and segment length information of the verification metadata, so as to synchronously restore the dynamic encryption seed to complete the decryption operation.

[0054] Secondly, this application provides a sensitive data transmission system for unmanned aerial vehicles based on BeiDou spatiotemporal encryption, comprising:

[0055] The fusion computing module, based on the positioning data and reliable timestamps provided by the BeiDou satellite navigation system, and the flight altitude and heading angle data provided in real time by the UAV flight control system, generates a spatiotemporal reference code bound to the flight trajectory through fusion computing;

[0056] The joint coding module utilizes the multipath fading characteristics of the wireless channel between the UAV and the ground fixed receiving station to acquire the channel impulse response characteristics in real time, and jointly encodes the spatiotemporal reference code with the channel impulse response characteristics to generate a dynamic encryption seed that changes once.

[0057] The encryption module, through the dynamic encryption seed-driven stream cipher generator, encrypts the insulator surface image data stream collected by the UAV's high-definition camera in real time to generate an encrypted insulator surface image data stream.

[0058] The sending module sends the encrypted insulator surface image data stream. At the same time as sending the encrypted insulator surface image data stream, the BeiDou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed are attached to the data packet as verification metadata, so that the receiving end can synchronously restore the dynamic encryption seed to complete the decryption operation.

[0059] Thirdly, this application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are to be invoked and executed by the processing component to implement a method for transmitting sensitive UAV data based on BeiDou spatiotemporal encryption as described in the first aspect above.

[0060] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a computer, implements a method for transmitting sensitive UAV data based on BeiDou spatiotemporal encryption as described in the first aspect.

[0061] The sensitive data transmission method for UAVs based on BeiDou spatiotemporal encryption provided in this application generates a dynamically changing spatiotemporal reference code by integrating BeiDou spatiotemporal information with UAV flight parameters, and generates a dynamically changing encryption seed by combining wireless channel characteristics with joint encoding. This achieves deep coupling between the encryption key and the UAV's real-time spatial location, flight status and transmission environment, effectively solving the security risks of static key schemes and significantly improving the anti-cracking capability and dynamic security protection level of the data transmission process.

[0062] Furthermore, by transmitting the BeiDou positioning data and channel characteristics used in generating the dynamic encryption seed as additional verification metadata, the receiving end can accurately and synchronously restore the encryption environment. This ensures strict synchronization between the encryption and decryption processes while avoiding the security risks associated with additional key transmission, forming a complete closed-loop secure transmission mechanism that guarantees end-to-end security for sensitive data during transmission.

[0063] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0064] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0065] Figure 1 A flowchart of a method for transmitting sensitive UAV data based on BeiDou spatiotemporal encryption, as provided in this application, is shown.

[0066] Figure 2 A schematic diagram of the structure of a UAV sensitive data transmission system based on BeiDou spatiotemporal encryption provided in this application is shown;

[0067] Figure 3 A schematic diagram of the structure of a computing device provided in this application is shown. Detailed Implementation

[0068] To enable those skilled in the art to better understand the present application, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0069] In some of the processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not themselves represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0070] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0071] Figure 1 This application provides a flowchart of a method for transmitting sensitive UAV data based on BeiDou spatiotemporal encryption, as shown below. Figure 1 As shown, the method includes:

[0072] Step 101: Based on the positioning data and reliable timestamps provided by the BeiDou Navigation Satellite System, and the flight altitude and heading angle data provided in real time by the UAV flight control system, a spatiotemporal reference code bound to the flight trajectory is generated through fusion calculation.

[0073] Optionally, step 101 may specifically include the following steps:

[0074] Step 1011: The longitude value, latitude value and the reliable timestamp in the positioning data are spliced ​​together in a preset order to form a first data sequence;

[0075] Step 1012: Combine the flight altitude and the heading angle data to form a second data sequence;

[0076] Step 1013: Perform a bit-by-bit alternation insertion operation on the first data sequence and the second data sequence to generate a combined data block;

[0077] Step 1014: Perform multiple rounds of cyclic shifting operations on the combined data block to obtain a combined data block after the shifting operations;

[0078] Step 1015: Divide the combined data block after the shift operation into multiple segments, and rearrange the multiple segments in order to obtain the rearranged complete data block;

[0079] Step 1016: Compress and convert the rearranged complete data block to generate a spatiotemporal reference code bound to the flight trajectory.

[0080] In the above scheme, the BeiDou Navigation Satellite System is a satellite system that provides geographic location and precise time information; positioning data refers to the longitude and latitude values ​​obtained from this system, used to determine the UAV's planar position; a reliable timestamp refers to highly reliable and precise time data obtained from the BeiDou system; flight altitude refers to the vertical distance data of the UAV relative to the ground; heading angle data refers to the angle between the UAV's flight direction and true north; spatiotemporal reference code refers to a set of digital codes generated through fusion calculations that can uniquely characterize the UAV's specific time and position characteristics; longitude values ​​are geographic coordinate components describing east-west position; and latitude values ​​describe north-south position. The geographic coordinate components; the first data sequence refers to the digital sequence formed by sequentially splicing longitude values, latitude values, and reliable timestamps; the second data sequence refers to the digital sequence formed by combining flight altitude and heading angle data; the combined data block refers to the integrated data block formed after performing a bit-by-bit alternating insertion operation on the first and second data sequences; multi-round cyclic shift refers to the operation of cyclically shifting the data block multiple times; the combined data block after shifting refers to the state of the data block after completing the cyclic shift operation; multiple segments refer to the several data fragments into which the shifted data block is divided; the rearranged complete data block refers to the complete data block formed after rearranging the data segments.

[0081] In this scheme, firstly, step 1011 concatenates the longitude, latitude, and reliable timestamps from the positioning data in a preset order to form a continuous digital sequence, i.e., the first data sequence. Secondly, step 1012 combines the flight altitude and heading data into another digital sequence, i.e., the second data sequence. Next, step 1013 alternately interleave the binary bits of the first and second data sequences to generate a new combined data block. Then, step 1014 performs multiple rounds of cyclic shifting operations on this combined data block, with the number of bits shifted in each round determined by specific rules, resulting in a shifted combined data block. Afterwards, step 1015 divides the shifted data block into several data segments, and rearranges the order of these segments according to specific rules to form a rearranged complete data block. Finally, step 1016 compresses and converts the rearranged data block to generate the final spatiotemporal reference code bound to the flight trajectory.

[0082] For example, in a power facility inspection mission, a drone inspects insulator defects on a high-voltage transmission line in area B. When the drone flies over section C of the line, the BeiDou Navigation Satellite System provides real-time positioning data of E degrees east longitude and N degrees north latitude, with a reliable timestamp of time T. The drone's flight control system simultaneously collects the flight altitude (H meters) and heading angle (D degrees). First, the longitude, latitude, and timestamp are concatenated in the order of "longitude-latitude-timestamp" to form a first data sequence. Simultaneously, the flight altitude and heading angle data are combined to form a second data sequence. Then, a bitwise alternating insertion operation is performed on the two data sequences to generate a combined data block. This data block undergoes three rounds of cyclic shifting, with the shift bits being the units, tens, and hundreds digits of the altitude value, respectively. Next, the shifted data block is divided into four data segments, rearranged according to the order determined by the heading angle value, and finally compressed and converted to generate a spatiotemporal reference code R closely bound to the flight trajectory at that moment.

[0083] This solution integrates spatiotemporal information from the BeiDou system with UAV flight status data. Through multi-step data processing and transformation, it generates a highly unique and spatiotemporally correlated digital code. This provides a dynamically changing base code closely related to the flight trajectory for subsequent encryption operations, effectively ensuring the one-time change characteristic of the encryption seed and enhancing the overall data transmission security.

[0084] Step 102: Utilize the multipath fading characteristics of the wireless channel between the UAV and the ground fixed receiving station to obtain the channel impulse response characteristics in real time, and jointly encode the spatiotemporal reference code and the channel impulse response characteristics to generate a dynamic encryption seed that changes once.

[0085] Optionally, step 102 may specifically include the following steps:

[0086] Step 1021: The UAV generates and sends a detection signal of a specific format to the ground fixed receiving station;

[0087] Step 1022: Based on the transmitted detection signal, receive the response signal from the ground fixed receiving station;

[0088] Step 1023: Extract the signal strength values ​​of multiple time delay points from the response signal to form an initial feature sequence;

[0089] Step 1024: Perform peak detection on the initial feature sequence to identify feature points with intensity exceeding the average intensity;

[0090] Step 1025: Arrange the identified feature points in order of time delay to form a time feature sequence;

[0091] Step 1026: Adjust the length of the time feature sequence according to the real-time flight speed of the UAV;

[0092] Step 1027: Select a preset number of feature values ​​from the adjusted time feature sequence to form the channel impulse response feature.

[0093] This also includes the following specific steps:

[0094] Using the spatiotemporal reference code as the first data block and the channel impulse response feature as the second data block, a separator is inserted between the first and second data blocks to form a combined data sequence. The combined data sequence is segmented into multiple data segments of a fixed length. A data segment at a specific position is selected from the multiple data segments, with the selection rule based on the last value of the channel impulse response feature. The values ​​in the selected data segment are arranged in a preset order. A bitwise XOR operation is performed on the arranged value sequence to generate an intermediate encoding result. The intermediate encoding result is modulo-added with the first value of the spatiotemporal reference code to obtain the modulo addition result. A cyclic left shift operation is performed on the modulo addition result. The result after the shift operation is used as a dynamic encryption seed, and the number of shift bits is determined by the first value of the channel impulse response feature.

[0095] In the above scheme, a ground fixed receiving station refers to a dedicated device set up in a fixed location to receive data transmitted by a UAV; multipath fading characteristics refer to the signal strength variation characteristics of a wireless signal arriving at the receiving end via different paths during transmission; channel impulse response characteristics refer to a set of characteristic parameters describing the transmission characteristics of a wireless channel; dynamic encryption seed refers to the dynamically changing basic parameters used to generate encryption keys; a specific format probe signal refers to a special signal generated by the UAV for probing channel characteristics; a response signal refers to the signal containing channel characteristics returned by the ground fixed receiving station after receiving the probe signal; signal strength values ​​at multiple time delay points refer to the signal strength values ​​measured at different time delay points; an initial feature sequence refers to a sequence composed of signal strength values ​​at multiple time delay points; a feature point refers to a significant point where the signal strength exceeds the average strength; a time feature sequence refers to a sequence of feature points arranged in time delay order; a combined data sequence refers to a sequence formed by connecting the spatiotemporal reference code and the channel impulse response characteristics through a separator identifier; multiple data segments refer to data segments after dividing the combined data sequence into fixed lengths; an arranged numerical sequence refers to a set of numerical values ​​rearranged in a specific order; an intermediate encoding result refers to the intermediate encoded value obtained through an XOR operation; and a modulo addition operation result refers to the numerical value obtained after performing a modulo addition operation.

[0096] In this scheme, firstly, in step 1021, the UAV generates a probe signal in a specific format and transmits it to a fixed ground receiving station. Secondly, in step 1022, the UAV receives a response signal from the fixed ground receiving station, which contains characteristics after transmission through the wireless channel. Next, in step 1023, the signal strength values ​​of multiple time delay points are extracted from the response signal, and these values ​​are combined to form an initial feature sequence. Then, in step 1024, peak detection is performed on the initial feature sequence to identify feature points with strength exceeding the average strength. Afterwards, in step 1025, the identified feature points are arranged in order of time delay to form a time feature sequence. Then, in step 1026, the length of the time feature sequence is adjusted according to the real-time flight speed of the UAV. Finally, in step 1027, a preset number of feature values ​​are selected from the adjusted time feature sequence to form the final channel impulse response feature. After obtaining the channel impulse response feature, the spatiotemporal reference code is used as the first data block, and the channel impulse response feature is used as the second data block. A separator is inserted between the two data blocks to form a combined data sequence. First, the combined data sequence is segmented into segments of a fixed length to obtain multiple data segments. Based on the last value of the channel impulse response characteristic, a data segment at a specific position is selected from multiple data segments. Next, the values ​​in the selected data segment are arranged in a preset order, and a bitwise XOR operation is performed on the arranged value sequence to generate an intermediate encoding result. The intermediate encoding result is then modulo-added with the first value of the spatiotemporal reference code to obtain the modulo addition result. Finally, a cyclic left shift operation is performed on the modulo addition result, with the shift number determined by the first value of the channel impulse response characteristic. The result after the shift operation is used as the final dynamic encryption seed.

[0097] Following the specific embodiment of the previous step, when the UAV flies over area D of the route, it generates a spatiotemporal reference code R based on the one generated in step 101. At this time, the UAV sends a probe signal in a specific format to a fixed ground receiving station, which returns a response signal containing channel characteristics. The signal strength values ​​of eight time-delay points are extracted from the response signal to form an initial feature sequence. Five feature points are identified through peak detection and arranged in chronological order to form a time feature sequence. The sequence length is adjusted according to the UAV's current flight speed, and finally, three feature values ​​are selected to form the channel impulse response feature C. The spatiotemporal reference code R is used as the first data block, and the channel impulse response feature C is used as the second data block. After inserting a separator, a combined data sequence is formed. This sequence is segmented into 32-bit segments, and the second data segment is selected based on the last value of feature C. The selected segment values ​​are sorted in ascending order and then XORed to obtain an intermediate encoding result. This result is modulo-added with the first value of R, and finally, the result is shifted left by 3 bits based on the first value of feature C to generate the final dynamic encryption seed S.

[0098] This scheme utilizes the multipath fading characteristics of wireless channels to obtain dynamically changing channel features, and performs deep joint encoding with a spatiotemporal reference code to generate a highly random and unique encryption seed. This achieves tight coupling between the encryption key and the specific transmission environment, effectively ensuring that a different encryption key is used for each transmission, greatly improving the security and anti-cracking capabilities of the data transmission process.

[0099] Step 103: The insulator surface image data stream acquired by the UAV's high-definition camera is encrypted in real time using the dynamic encryption seed-driven stream cipher generator to generate an encrypted insulator surface image data stream.

[0100] Optionally, step 103 may specifically include the following steps:

[0101] Step 1031: Input the dynamic encryption seed as an initial parameter into the pre-built stream cipher generator to initialize the internal state of the stream cipher generator and obtain the initialized stream cipher generator.

[0102] Step 1032: Read the image frame data in the insulator surface image data stream in sequence, and divide each image frame data into a data block of fixed size;

[0103] Step 1033: Perform a nonlinear transformation on the current internal state of the initialized stream cipher generator to generate a key stream segment that matches the length of the data block;

[0104] Step 1034: Perform a bitwise XOR operation between the key stream segment and the pixel values ​​in the current data block to obtain the data block after the XOR operation;

[0105] Step 1034 may include the following specific steps:

[0106] Each pixel value in the current data block is converted into a fixed-length binary byte sequence. The key stream segment is divided into multiple key units of the same length as the binary byte sequence. The binary byte sequence corresponding to each pixel value is XORed bit by bit with the key unit at the corresponding position in sequence to obtain each binary byte sequence after the XOR operation. Each binary byte sequence after the XOR operation is converted back to pixel value format to obtain the converted pixel value. The converted pixel values ​​are recombined in the original order to generate the data block after the XOR operation.

[0107] Step 1035: Reassemble the data blocks after the XOR operation into encrypted image frames in their original order, and add a frame sequence number mark to each encrypted image frame to generate an encrypted insulator surface image data stream.

[0108] In the above scheme, the stream cipher generator refers to an encryption algorithm module capable of generating a continuous key stream; the insulator surface image data refers to the image data of the insulator surface of power equipment captured by a high-definition camera of a drone; the encrypted insulator surface image data stream refers to the image data sequence after encryption processing; the initialized stream cipher generator refers to the stream cipher generator after setting its initial state with a dynamic encryption seed; the image frame data refers to the single image data in the video stream; the fixed-size data block refers to the data unit of uniform specification into which the image frame is divided; the key stream segment refers to the encryption key segment generated by the stream cipher generator that matches the length of the data block; the pixel value in the data block refers to the pixel brightness or color value contained in the image data block; the data block after the XOR operation refers to the data block after encryption processing; the binary byte sequence refers to the data string into which the pixel value is converted into binary form; multiple key units refer to the key segments into which the key stream is divided that match the length of the pixel byte; each binary byte sequence after the XOR operation refers to the binary data after encryption operation; the converted pixel value refers to the pixel value converted back from the encrypted binary data; and the encrypted image frame refers to the encrypted image formed by recombining all the encrypted data blocks.

[0109] In this scheme, firstly, step 1031 inputs the dynamic encryption seed as an initial parameter into the pre-built stream cipher generator, setting the initial working state of the stream cipher generator and completing the initialization process, resulting in the initialized stream cipher generator. Secondly, step 1032 sequentially reads each image frame data from the insulator surface image data stream, dividing each complete image frame data into multiple fixed-size data blocks to prepare for subsequent encryption processing. Next, step 1033 performs a nonlinear transformation on the current internal state of the initialized stream cipher generator to generate a key stream segment that perfectly matches the data block length, ensuring the correspondence between the encryption key and the data block. Then, in step 1034, the generated keystream fragment is XORed bit-by-bit with all pixel values ​​contained in the current data block. Specifically, this process includes: converting each pixel value in the data block into a fixed-length binary byte sequence; dividing the keystream fragment into multiple key units of the same length as the binary byte sequence; sequentially XORing the binary byte sequence corresponding to each pixel value with the corresponding key unit to obtain an encrypted binary byte sequence; converting these binary byte sequences back to pixel value format; and finally, recombine all the converted pixel values ​​in their original order to generate a complete XORed data block. Finally, in step 1035, all the XORed data blocks are recombine in their original order to form a complete encrypted image frame, and a frame sequence number is added to each encrypted image frame, ultimately generating a complete encrypted insulator surface image data stream.

[0110] Following the specific implementation of the previous step, when the UAV flies over area E, the dynamic encryption seed S, generated in step 102, is used. The UAV's high-definition camera is acquiring image data of the insulator surface, and the system initializes the stream cipher generator with the dynamic encryption seed S. When the Nth frame of the insulator image is acquired, the system divides the frame into multiple 128×128 pixel data blocks. The stream cipher generator generates a key stream segment matching the length of the data block based on the current state, and divides the key stream segment into key units of the same length as the pixel bytes. Each pixel value is first converted into an 8-bit binary sequence, XORed with the corresponding key unit, and then the encrypted binary sequence is converted back into a pixel value. All encrypted data blocks are reassembled in their original order into an encrypted image frame, and after adding a frame sequence number marker, an encrypted data stream is formed, ready to be transmitted to the ground station.

[0111] This solution uses a dynamic encryption seed to drive a stream cipher generator, enabling real-time block-by-block encryption of images captured by the UAV. By leveraging the characteristics of stream ciphers, it ensures that each data block is encrypted using a different key fragment, guaranteeing both encryption strength and real-time processing capabilities. Simultaneously, frame sequence number marking provides the receiving end with guidance on the correct decryption order, ultimately forming a complete secure image data transmission solution.

[0112] Step 104: Send the encrypted insulator surface image data stream. At the same time as sending the encrypted insulator surface image data stream, attach the BeiDou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed as verification metadata to the data packet, so that the receiving end can synchronously restore the dynamic encryption seed to complete the decryption operation.

[0113] Optionally, step 104 may specifically include the following steps:

[0114] Step 1041: Package the encrypted insulator surface image data stream according to the communication protocol format to form a transmission data packet;

[0115] Step 1042: Extract longitude, latitude, and elevation values ​​from the BeiDou positioning data used when generating the dynamic encryption seed;

[0116] Step 1043: Extract the values ​​corresponding to the first three amplitude peaks from the channel impulse response features used when generating the dynamic encryption seed;

[0117] Step 1044: Combine the longitude, latitude, and elevation values ​​with the first three amplitude peak values ​​in a preset order to form a verification data block;

[0118] Step 1045: The verification data block is segmented to obtain multiple verification data segments, and verification information calculated based on the content of the verification data segment is appended to the end of each verification data segment.

[0119] Step 1046: Insert the verification data segments with additional verification information into the reserved verification area in the header of the data packet in sequence;

[0120] Step 1047: Set an identifier at the beginning position of the verification area to indicate the starting boundary and segment length information of the verification metadata, so as to synchronously restore the dynamic encryption seed to complete the decryption operation.

[0121] In the above scheme, the transmission data packet refers to the encrypted data unit encapsulated according to the communication protocol format; the elevation value refers to the altitude value obtained from the BeiDou positioning data; the values ​​corresponding to the first three amplitude peaks refer to the intensity values ​​of the three strongest signals extracted from the channel impulse response characteristics; the verification data block refers to the verification data unit formed by combining positioning data and channel characteristic values; the verification information calculated from the verification data segment content refers to the verification information generated based on the data segment content; the verification area reserved in the data packet header refers to the area specially set in the data packet header for storing verification information; and the dynamic encryption seed completing the decryption operation refers to the process by which the receiving end regenerates the encryption seed using the verification metadata and performs decryption.

[0122] In this scheme, firstly, step 1041 packages the encrypted insulator surface image data stream according to the standard communication protocol format to form a transmission data packet that meets the transmission requirements. Secondly, step 1042 extracts key positioning parameters, including longitude, latitude, and elevation, from the BeiDou positioning data used when generating the dynamic encryption seed. Next, step 1043 extracts the values ​​corresponding to the three amplitude peaks with the strongest signal strength from the channel impulse response characteristics used when generating the dynamic encryption seed. Then, step 1044 combines the extracted longitude, latitude, and elevation values ​​with the three amplitude peak values ​​in a pre-set order to form a complete verification data block. Next, step 1045 segments the verification data block into multiple verification data segments, and appends verification information calculated based on the content of each segment to the end of each segment. Finally, step 1046 inserts each verification data segment with the appended verification information into the specially reserved verification area in the header of the data packet in sequence. Finally, in step 1047, a special identifier is set at the beginning of the verification area to clearly indicate the starting position of the verification metadata and the length information of each data segment, so that the receiving end can accurately identify and extract this verification information, synchronously restore the dynamic encryption seed and complete the decryption operation.

[0123] Following the specific implementation of the previous step, after the UAV completes the encryption of the insulator image, the system packages the encrypted data stream into a transmission data packet according to the TCP / IP protocol. Longitude (X degrees), latitude (Y degrees), and elevation (Z meters) are extracted from the BeiDou data used to generate the encryption seed. Three amplitude peaks, V1, V2, and V3, are extracted from the channel characteristics. These values ​​are combined in the order of "longitude-latitude-elevation-peak 1-peak 2-peak 3" to form a verification data block. This block is then divided into four data segments, and a CRC checksum is calculated and appended to each segment. These verification segments are inserted into a reserved field in the header of the data packet. An identifier 0xAA is set at the start position to indicate the beginning of the verification data, and the data is then transmitted to the ground station. The ground station locates the verification data based on the identifier, uses these parameters to reconstruct the encryption seed, and successfully decrypts the received insulator detection image.

[0124] This solution transmits key parameters used in the encryption process as verification metadata along with the encrypted data, providing the receiving end with complete environment reconstruction information. This ensures both the one-time change of the encryption key and the ability of the legitimate recipient to accurately recreate the encryption environment and complete decryption. It achieves secure sharing of the information required for decryption without transmitting the key itself, ultimately forming a complete secure transmission solution.

[0125] Figure 2 This application provides a schematic diagram of the structure of a UAV sensitive data transmission system based on BeiDou spatiotemporal encryption, as shown below. Figure 2 As shown, the system includes:

[0126] The fusion computing module 21 generates a spatiotemporal reference code bound to the flight trajectory through fusion computing based on the positioning data and reliable timestamps provided by the Beidou satellite navigation system and the flight altitude and heading angle data provided in real time by the UAV flight control system.

[0127] The joint coding module 22 utilizes the multipath fading characteristics of the wireless channel between the UAV and the ground fixed receiving station to acquire the channel impulse response characteristics in real time, and jointly encodes the spatiotemporal reference code with the channel impulse response characteristics to generate a dynamic encryption seed that changes once.

[0128] Encryption module 23, through the dynamic encryption seed-driven stream cipher generator, encrypts the insulator surface image data stream collected by the UAV high-definition camera in real time to generate an encrypted insulator surface image data stream;

[0129] The sending module 24 sends the encrypted insulator surface image data stream. At the same time as sending the encrypted insulator surface image data stream, the Beidou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed are attached to the data packet as verification metadata, so that the receiving end can synchronously restore the dynamic encryption seed to complete the decryption operation.

[0130] Figure 2 The aforementioned UAV sensitive data transmission system based on BeiDou spatiotemporal encryption can perform... Figure 1 The implementation principle and technical effects of the UAV sensitive data transmission method based on BeiDou spatiotemporal encryption described in the illustrated embodiment will not be repeated here. The specific operation methods of each module and unit in the UAV sensitive data transmission system based on BeiDou spatiotemporal encryption in the above embodiments have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0131] In one possible design, Figure 2 The embodiment shown illustrates a UAV sensitive data transmission system based on BeiDou spatiotemporal encryption, which can be implemented as a computing device, such as... Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32;

[0132] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are invoked and executed by the processing component 32.

[0133] The processing component 32 is used for the above Figure 1 The embodiment describes a method for transmitting sensitive data from unmanned aerial vehicles (UAVs) based on BeiDou spatiotemporal encryption.

[0134] The processing component 32 may include one or more processors to execute computer instructions to complete all or part of the steps in the above-described method. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0135] Storage component 31 is configured to store various types of data to support operations at the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0136] Of course, computing devices may also include other components, such as input / output interfaces, display components, communication components, etc.

[0137] Input / output interfaces provide interfaces between processing components and peripheral interface modules, which can be output devices, input devices, etc.

[0138] The communication components are configured to facilitate wired or wireless communication between computing devices and other devices.

[0139] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform. In this case, the computing device can refer to a cloud server, and the aforementioned processing components, storage components, etc., can be basic server resources rented or purchased from the cloud computing platform.

[0140] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, can perform the above-described functions. Figure 1 The embodiment shown is a method for transmitting sensitive data from unmanned aerial vehicles (UAVs) based on BeiDou spatiotemporal encryption.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0142] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0144] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for transmitting sensitive data from unmanned aerial vehicles (UAVs) based on BeiDou spatiotemporal encryption, characterized in that, include: Based on the positioning data and reliable timestamps provided by the BeiDou Navigation Satellite System, and the flight altitude and heading angle data provided in real time by the UAV flight control system, a spatiotemporal reference code bound to the flight trajectory is generated through fusion calculation. By utilizing the multipath fading characteristics of the wireless channel between the UAV and the ground fixed receiving station, the channel impulse response characteristics are obtained in real time, and the spatiotemporal reference code and the channel impulse response characteristics are jointly encoded to generate a dynamic encryption seed that changes once. The dynamic encryption seed-driven stream cipher generator is used to encrypt the insulator surface image data stream collected by the UAV's high-definition camera in real time to generate an encrypted insulator surface image data stream. The encrypted insulator surface image data stream is sent. At the same time as sending the encrypted insulator surface image data stream, the BeiDou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed are attached to the data packet as verification metadata, so that the receiving end can synchronously restore the dynamic encryption seed to complete the decryption operation. The method involves jointly encoding the spatiotemporal reference code and the channel impulse response characteristics to generate a dynamically changing encryption seed, including: Using the spatiotemporal reference code as the first data block and the channel impulse response feature as the second data block, a separator is inserted between the first and second data blocks to form a combined data sequence. The combined data sequence is segmented into multiple data segments of a fixed length. A data segment at a specific position is selected from the multiple data segments, with the selection rule based on the last value of the channel impulse response feature. The values ​​in the selected data segments are arranged in a preset order, and a bitwise XOR operation is performed on the arranged value sequence to generate an intermediate encoding result. The intermediate encoding result is modulo-added with the first value of the spatiotemporal reference code to obtain a modulo-add result. The modulo-add result is then cyclically shifted left, and the result after the shift operation is used as a dynamic encryption seed, with the shift number determined by the first value of the channel impulse response feature.

2. The method according to claim 1, characterized in that, Based on positioning data and reliable timestamps provided by the BeiDou Navigation Satellite System, and real-time flight altitude and heading angle data provided by the UAV flight control system, a spatiotemporal reference code bound to the flight trajectory is generated through fusion calculation, including: The longitude value, latitude value, and trusted timestamp in the positioning data are concatenated in a preset order to form a first data sequence; The flight altitude and heading angle data are combined to form a second data sequence; Perform a bit-by-bit alternation insertion operation on the first data sequence and the second data sequence to generate a combined data block; Perform multiple rounds of cyclic shift operations on the combined data block to obtain a combined data block that has undergone shift operations; The combined data block after the shift operation is divided into multiple segments, and the multiple segments are rearranged in order to obtain the rearranged complete data block; The rearranged complete data block is compressed and transformed to generate a spatiotemporal reference code bound to the flight trajectory.

3. The method according to claim 1, characterized in that, Utilizing the multipath fading characteristics of the wireless channel between the UAV and the ground-based fixed receiving station, the channel impulse response characteristics are acquired in real time, including: The drone generates and transmits a detection signal of a specific format to the ground-based fixed receiving station; Based on the transmitted detection signal, a response signal is received from the ground fixed receiving station; The signal strength values ​​at multiple time delay points are extracted from the response signal to form an initial feature sequence; Peak detection is performed on the initial feature sequence to identify feature points with intensity exceeding the average intensity; The identified feature points are arranged in order of time delay to form a time feature sequence; The length of the time feature sequence is adjusted according to the real-time flight speed of the UAV; A preset number of feature values ​​are selected from the adjusted time feature sequence to form the channel impulse response feature.

4. The method according to claim 1, characterized in that, The dynamic encryption seed-driven stream cipher generator encrypts the insulator surface image data stream acquired by the UAV's high-definition camera in real time to generate an encrypted insulator surface image data stream, including: The dynamic encryption seed is input as an initial parameter into the pre-built stream cipher generator to initialize the internal state of the stream cipher generator, thus obtaining the initialized stream cipher generator. Read the image frame data in the insulator surface image data stream sequentially, and divide each image frame data into a data block of fixed size; A nonlinear transformation is performed on the current internal state of the initialized stream cipher generator to generate a key stream segment that matches the length of the data block; Perform a bitwise XOR operation between the key stream segment and the pixel values ​​in the current data block to obtain the data block after the XOR operation. The data blocks after the XOR operation are reassembled into encrypted image frames in their original order, and a frame sequence number is added to each encrypted image frame to generate an encrypted insulator surface image data stream.

5. The method according to claim 4, characterized in that, The key stream segment is XORed bit by bit with the pixel values ​​in the current data block to obtain the XORed data block, including: Convert each pixel value in the current data block into a fixed-length binary byte sequence; The key stream segment is divided into multiple key units of the same length as the binary byte sequence; Perform a bitwise XOR operation between the binary byte sequence corresponding to each pixel value and the key unit at the corresponding position in sequence to obtain each binary byte sequence after the XOR operation; Convert each binary byte sequence after the XOR operation back to pixel value format to obtain the converted pixel value; The converted pixel values ​​are recombined in their original order to generate a data block after the XOR operation.

6. The method according to claim 1, characterized in that, The encrypted insulator surface image data stream is sent, and simultaneously, the BeiDou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed are appended as verification metadata to the data packet, enabling the receiving end to synchronously reconstruct the dynamic encryption seed and complete the decryption operation, including: The encrypted insulator surface image data stream is packaged according to the communication protocol format to form a transmission data packet; Extract longitude, latitude, and elevation values ​​from the BeiDou positioning data used when generating the dynamic encrypted seed; Extract the values ​​corresponding to the first three amplitude peaks from the channel impulse response features used when generating the dynamic encryption seed; The longitude, latitude, and elevation values ​​are combined with the first three amplitude peak values ​​in a preset order to form a verification data block; The verification data block is segmented to obtain multiple verification data segments, and verification information calculated based on the content of the verification data segment is appended to the end of each verification data segment. Insert the verification data segments with additional verification information into the reserved verification area in the header of the data packet in sequence; An identifier is set at the beginning of the verification area to indicate the starting boundary and segment length information of the verification metadata, so as to synchronously restore the dynamic encryption seed to complete the decryption operation.

7. A sensitive data transmission system for unmanned aerial vehicles based on BeiDou spatiotemporal encryption, characterized in that, include: The fusion computing module, based on the positioning data and reliable timestamps provided by the BeiDou satellite navigation system, and the flight altitude and heading angle data provided in real time by the UAV flight control system, generates a spatiotemporal reference code bound to the flight trajectory through fusion computing; The joint coding module utilizes the multipath fading characteristics of the wireless channel between the UAV and the ground fixed receiving station to acquire the channel impulse response characteristics in real time, and jointly encodes the spatiotemporal reference code with the channel impulse response characteristics to generate a dynamic encryption seed that changes once. The encryption module, through the dynamic encryption seed-driven stream cipher generator, encrypts the insulator surface image data stream collected by the UAV's high-definition camera in real time to generate an encrypted insulator surface image data stream. The sending module sends the encrypted insulator surface image data stream. At the same time as sending the encrypted insulator surface image data stream, the Beidou positioning data and channel impulse response characteristics corresponding to the generation of the dynamic encryption seed are attached to the data packet as verification metadata, so that the receiving end can synchronously restore the dynamic encryption seed to complete the decryption operation. The method involves jointly encoding the spatiotemporal reference code and the channel impulse response characteristics to generate a dynamically changing encryption seed, including: Using the spatiotemporal reference code as the first data block and the channel impulse response feature as the second data block, a separator is inserted between the first and second data blocks to form a combined data sequence. The combined data sequence is segmented into multiple data segments of a fixed length. A data segment at a specific position is selected from the multiple data segments, with the selection rule based on the last value of the channel impulse response feature. The values ​​in the selected data segments are arranged in a preset order, and a bitwise XOR operation is performed on the arranged value sequence to generate an intermediate encoding result. The intermediate encoding result is modulo-added with the first value of the spatiotemporal reference code to obtain a modulo-add result. The modulo-add result is then cyclically shifted left, and the result after the shift operation is used as a dynamic encryption seed, with the shift number determined by the first value of the channel impulse response feature.

8. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a method for transmitting sensitive UAV data based on BeiDou spatiotemporal encryption as described in any one of claims 1 to 6.

9. A computer storage medium, characterized in that, The device contains a computer program that, when executed by a computer, implements a method for transmitting sensitive UAV data based on BeiDou spatiotemporal encryption as described in any one of claims 1 to 6.

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