基于无人机MAVLink协议遥测类消息的隐蔽通信方法OA

To address the demand for covert communication of unmanned aerial vehicles(UAV)in regulated environ-ments,a steganographic scheme based on telemetry messages of the micro air vehicle link(MAVLink)protocol was pro-posed.Without modifying the protocol standard,information was embedded into the least two significant bits of the man-tissa of floating-point numbers,by which reliable transmission of ciphertext within conventional telemetry data streams was enabled.The HIGHERS inertial measurement unit(HIGHRES_IMU),and ATTITUDE,ATTITUDE_QUATERNION messages were selected as the core carriers,owing to their continuous high-frequency updates,low per-turbation,and inherent error tolerance of floating-point fields.A prediction-correction embedding algorithm with physi-cal constraint preservation was designed for these carriers.Guided by a UAV dynamics model,the optimal embedding positions were solved in real time through the algorithm.Simulation results demonstrated that an average capacity of 1.38 kbit/s was achieved in a static hovering scenario,corresponding to 96.5%of the theoretical capacity;in a dynamic maneuvering scenario,the capacity remained around 0.95 kbit/s.These results indicate that the proposed scheme can meet the real-time requirements of most covert communication tasks.