计算机科学 ›› 2025, Vol. 52 ›› Issue (11A): 241200203-9.doi: 10.11896/jsjkx.241200203
孟冬月1,2, 黄玉钏1,2,3, 韩国祥1,2, 李红臣1, 王棚飞1
MENG Dongyue1,2, HUANG Yuchuan1,2,3, HAN Guoxiang1,2, LI Hongchen1, WANG Pengfei1
摘要： 为保障四旋翼无人机在应急救援现场安全可靠作业,针对应急救援现场四旋翼无人机信息体系统交互不规范的问题,提出了应急救援四旋翼无人机系统救援现场空间信息体,并基于密码学对应急救援指挥部控制模块和控制信号进行完整性和保密性验证。同时,为了保证四旋翼无人机按照应急救援指挥部控制信号稳定飞行,建立了应急救援四旋翼无人机动力学模型,设计了基于前馈PID的应急救援四旋翼无人机位姿控制器,最后利用Python的Cryptography和Matlab的Simulink开展联合实验。实验结果表明,使用的密码模块可以高效完成真实性与保密性验证,前馈PID位姿控制器可以很好地完成事故救援现场巡飞作业。此研究将为应急救援四旋翼无人机在实际应用中的安全性和可靠性提供有效的理论支持。
中图分类号:
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