通信学报2026，Vol.47Issue(8)：110-125,16.DOI:10.11959/j.issn.1000-436x.TXXB260178
基于无人机MAVLink协议遥测类消息的隐蔽通信方法
Covert communication method for UAV based on telemetry-type messages of the MAVLink protocol
摘要
Abstract
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.关键词
无人机协议/隐蔽通信/物理约束/最低有效位隐写/预测-修正嵌入算法Key words
UAV protocol/covert communication/physical constraints/least significant bit steganography/prediction-correction embedding algorithm分类
信息技术与安全科学引用本文复制引用
黄冬艳,黄珉..基于无人机MAVLink协议遥测类消息的隐蔽通信方法[J].通信学报,2026,47(8):110-125,16.基金项目
广西自然科学基金资助项目(No.2025GXNSFAA069685) The Guangxi Natural Science Foundation(No.2025GXNSFAA069685) （No.2025GXNSFAA069685）
