CN111127028B - Unmanned aerial vehicle wireless energy safe transaction mechanism based on block chain - Google Patents

Unmanned aerial vehicle wireless energy safe transaction mechanism based on block chain Download PDF

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CN111127028B
CN111127028B CN201911348362.9A CN201911348362A CN111127028B CN 111127028 B CN111127028 B CN 111127028B CN 201911348362 A CN201911348362 A CN 201911348362A CN 111127028 B CN111127028 B CN 111127028B
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dap
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CN111127028A (en
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蒋丽
陈彬
陈梅云
刘义
杨超
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Guangdong University of Technology
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    • G06Q20/382—Payment protocols; Details thereof insuring higher security of transaction
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Abstract

The invention discloses an unmanned aerial vehicle wireless energy safe transaction mechanism based on a block chain, which comprises a pricing mechanism and a consensus mechanism; the pricing mechanism designs transaction pricing between an energy provider and an energy demander from the perspective of service time and consideration; the consensus mechanism is designed based on the unmanned aerial vehicle and the base station, and a new transaction is verified by all nodes in the block chain and recorded to the block chain by a certain miner. 21 miners are selected from the base station to be responsible for connecting new transactions generated in the network to the block chain main chain through verification, and the base stations of other non-miners and the unmanned aerial vehicles can become verification nodes and are responsible for verifying new blocks to be connected with the block chain.

Description

Unmanned aerial vehicle wireless energy safe transaction mechanism based on block chain
Technical Field
The invention relates to the field of wireless energy transaction, in particular to an unmanned aerial vehicle wireless energy safe transaction mechanism based on a block chain.
Background
Unmanned aerial vehicle is the unmanned vehicles who can independently fly or remote control flight, divide into fixed wing unmanned aerial vehicle and rotor unmanned aerial vehicle. With the continuous development and maturity of the unmanned aerial vehicle technology and the advantages of flexible deployment, high working efficiency and the like of the unmanned aerial vehicle, various types of unmanned aerial vehicles are widely applied to the fields of military affairs, industry, agriculture, disaster relief and the like. For example, a drone is dispatched to provide communication offload services for densely populated hot spot areas. Traditionally, operators can purchase drones for the amount of tasks they need to accomplish. However, this will lead to an increase in the operating costs of the operator, especially for operators with short-term requirements. Meanwhile, the unmanned aerial vehicle is in a working state only in a certain time period in one day, and is in an idle state at other times, so that the waste of resources is also caused. In order to solve the problems, the invention designs a wireless energy safe transaction mechanism of the unmanned aerial vehicle, and an operator who owns an idle unmanned aerial vehicle installs a wireless energy transmitting device on the unmanned aerial vehicle to provide charging service for other wireless sensor network operators. Therefore, the wireless sensor network operator can rent the unmanned aerial vehicle in a short period without purchasing the unmanned aerial vehicle, the initial operation cost of the wireless sensor network operator is reduced, and meanwhile, other operators can fully utilize the idle unmanned aerial vehicle of the operator to obtain more benefits. According to the invention, an operator who provides wireless charging by using an idle unmanned aerial vehicle is called an energy provider, and an operator who receives wireless charging is called an energy demand party.
The energy provider utilizes the unmanned aerial vehicle to wirelessly charge the energy demander, can consume the energy of the unmanned aerial vehicle, accelerate the aging speed of the unmanned aerial vehicle and the like. At the same time, the energy provider can lie on the cost of operation of the drone to claim higher rewards. In the energy transaction between the energy provider and the energy demander, the cost is too high, which causes the benefit of the energy demander to be reduced or even negative, and the energy demander is not willing to hire a drone to charge. A price that is too low will result in the energy provider being paid to offset the cost of the payment, and will also result in no energy provider being willing to provide drone charging services. It is therefore desirable to design a reasonable pricing mechanism. Contract theory is one of the game theory in economics with the goal of maximizing employer benefit while meeting employee's individual rationality constraints and incentive compatibility constraints. The method is mainly used for designing the labor contract between an employer and an employee in a monopolized market, and can effectively solve the problem of information asymmetry between the employer and the employee. In the invention, a pricing mechanism between an energy demand side and an energy provider side is designed by using a contract theory.
The transaction process between the energy provider and the energy demander needs a powerful trusted third party to verify the correctness of the transaction and ensure the safe execution of the transaction, and the traditional trusted third party has a payment treasure, a WeChat, various banks and the like. However, the centralized third-party organization ensures the safe transaction, and has the problems of high service cost, denial of service, single-point failure, privacy disclosure, easy attack and the like. The block chain is a data structure which connects the data blocks in a chain mode according to the time sequence, is a centralized account book which is maintained collectively and cannot be tampered, and can realize point-to-point value transmission in the internet. The blockchain is used as a virtual third party for transaction between the energy provider and the energy demand party, so that the safe execution of the transaction can be effectively ensured, the transaction cost can be reduced, and the transaction safety can be improved by utilizing the characteristics of the blockchain technology.
In conclusion, the unmanned aerial vehicle wireless energy safety transaction mechanism based on the blockchain is designed by combining the contract theory and the blockchain technology.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an unmanned aerial vehicle wireless energy safe transaction mechanism based on a block chain.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an unmanned aerial vehicle wireless energy safety transaction mechanism based on a block chain comprises a pricing mechanism and a consensus mechanism;
the pricing mechanism designs transaction pricing between an energy provider and an energy demander from the perspective of service time and consideration;
the consensus mechanism is designed based on the unmanned aerial vehicle and the base station, and a new transaction is verified by all nodes in the block chain and recorded to the block chain by a miner. 21 miners are selected from the base station to be responsible for connecting new transactions generated in the network to the block chain main chain through verification, and the base stations of other non-miners and the unmanned aerial vehicles can become verification nodes and are responsible for verifying new blocks to be connected with the block chain.
In a preferred embodiment, the system further comprises a malicious miner classifier, which comprises three steps: behavior data set processing, model training and malicious miner prediction;
step 1. the behavioral dataset is represented as: d ═ x1,x2,...,xnEach of which example xiThe attribute of a certain miner is represented and consists of 7 characteristics, namely a currency age value, a total number of times of transaction, an online time length, time for joining a block chain network, a number of times of malicious behavior, a number of times of applying for the miner and a number of times of acting as the miner; all features are labeled 0 and 1, where 1 is denoted as malicious miner;
step 2, training a malicious miner classifier, namely obtaining the malicious miner classifier by using the data set arranged in the step one as input and adopting a naive Bayes algorithm as a training method;
and 3, constructing the information of the DAP base station into a test sample according to a standard format, calculating the probability that the test sample is malicious miner by using the obtained classifier, and judging the DAP as the malicious miner if the probability is more than 50%.
In a preferred embodiment, the malicious miner classifier is represented as:
Figure BDA0002334024370000031
wherein P (1) represents the prior probability of a malicious miner,
Figure BDA0002334024370000032
expressed as the feature prior probability in the training sample,
Figure BDA0002334024370000033
and the probability distribution of each feature in the malicious miners is represented, and P (1| x) is the posterior probability obtained by calculation of the Bayes classifier and is represented as the probability of the malicious node.
In a preferred embodiment, the pricing mechanism comprises the steps of:
step 1, determining that the contract content is (T) according to the rule of 'charging on time' in the marketi,Ri)，TiIs the time when the energy provider provides charging service to the energy demander, RiI is the reward that the energy demand party pays to the energy provider, i indicates that the contract is of the ith type;
step 2. the benefit function of the energy provider is expressed as the reward obtained minus the charging cost, i.e.
Figure BDA0002334024370000034
Wherein c isiRepresenting the unit cost of energy, p represents the power of the wireless energy transmitter,
Figure BDA0002334024370000035
representing a hover power of the drone;
the benefit function of the energy demand side is expressed as the benefit generated by the charge minus the payment paid, i.e. the
Figure BDA0002334024370000036
Wherein beta represents the benefit coefficient, wherein,
Figure BDA0002334024370000037
representing the channel power gain between the K sensors and the unmanned aerial vehicle, which need to be charged by the energy demander;
step 3, in the benefit function of the energy provider, the unit cost c of the energyiAnd hovering power of the drone
Figure BDA0002334024370000038
The information is private information of the energy provider, and the energy provider cannot actively provide the information to the energy demander; then define the type of drone as
Figure BDA0002334024370000039
As can be seen from the formula, the lower the unit energy cost or the smaller the hovering power is, the higher the type of the drone is, and the lower the cost of providing the charging service is, the drone is divided into N types: theta1,
Figure BDA00023340243700000310
θi,
Figure BDA00023340243700000311
θNAnd satisfy
Figure BDA00023340243700000312
The benefit function of the energy provider can be rewritten as:
Figure BDA00023340243700000313
step 4. according to contract theoryDesign rules, the ir (industrial ratio) constraint, i.e., personal rational constraint, are expressed as:
Figure BDA0002334024370000041
if and only if the benefit obtained when each type of unmanned aerial vehicle accepts the contract conforming to the type of unmanned aerial vehicle is greater than zero, then the IR constraint is established, and the IR constraint ensures that the type is thetaiThe unmanned aerial vehicle accepts the contract (T) conforming to the type of the unmanned aerial vehiclei,Ri) The time benefit is more than zero;
the ic (intrinsic compatibility) constraint, i.e., the excitation compatibility constraint, is expressed as:
Figure BDA0002334024370000042
the IR constraint is established if and only if the benefit obtained is the greatest when each type of drone accepts a contract that conforms to its own type. IC constraint guarantee type is thetaiThe unmanned aerial vehicle accepts the contract (T) conforming to the type of the unmanned aerial vehiclei,Ri) The time-of-day benefit is greater than the benefit of accepting other types of contracts, the contract design between the energy provider and the energy demander can be expressed as:
Figure BDA0002334024370000043
γirepresenting the probability of occurrence of the ith type of drone, C1 and C2 are the IR and IC constraints, respectively, and solving this optimization problem with mathematical tools allows to obtain N types of contracts (T)i,Ri) The specific numerical value of (1).
In a preferred scheme, the nodes comprise a DAP base station and a unmanned aerial vehicle;
the DAP base station is a data collection base station of an energy demand party and is used for collecting and processing data sent by the sensor;
the unmanned aerial vehicle is provided by an energy provider and charges a sensor of an energy demand party.
In a preferred embodiment, the consensus mechanism comprises the following steps:
s1, a group of credible DAP nodes with large currency ages are selected from a block chain network to serve as miners, and the credible DAP nodes are taken as leaders to lead other miners and verification nodes in turn to complete a consensus process;
s2, in the verification process, newly generated transactions in the network are packaged into blocks, the blocks are verified and then are linked to a block chain main chain, and a DAP node serving as a miner in the network executes a block packaging task and a verification node executes a verification task;
and S3, settling accounts, and distributing the income obtained by the round of mining to miners and nodes participating in work after all consensus processes and verification processes are finished.
In a preferred embodiment, the formula mechanism comprises the following specific steps:
s11, adding the unmanned aerial vehicle and the DAP base station into the block chain network for the first time, wherein the unmanned aerial vehicle and the DAP base station need to perform identity verification to verify that the unmanned aerial vehicle or the DAP base station entity exists really, and after the identity verification, the unmanned aerial vehicle and the DAP base station can obtain corresponding public keys, private keys and certificates for encryption, decryption, signature and identity verification;
s12, applying for a candidate, wherein a DAP base station of the candidate needs to store a fund into an account under the supervision of the public, and the fund number multiplied by the storage time is the age of the money owned by the DAP base station; if the DAP base station has bad behaviors in the process of executing the consensus, the fund is not collected; secondly, the DAP base station applying for the candidate needs to perform a prediction process of the malicious miner classifier, and the DAP base station passing through the prediction process can become the candidate;
s13, sorting according to the age of the candidate from big to small, selecting X candidates ranked in the front as miners in the process of digging a new round of mine, wherein X belongs to N, and other DAP candidates and unmanned aerial vehicles which are not selected can be selected as verification nodes in the verification process; in the new round of consensus process, X miners alternately serve as leaders to lead other verifiers to complete a verification process;
s14, the DAP which is not selected by miners and all unmanned aerial vehicles are authorized to become verification nodes in the process of a new round of mining, and all transactions of a new block are verified and audited in the verification process; the requirement of becoming the verification node is that the DAP or the unmanned aerial vehicle pays quota security funds for one of X miners, and if the guaranteed miners cause the cochain failure of a new block or have malicious behaviors when the miners act as leaders, the security funds are not paid;
s21, collecting newly generated trades of a blockchain network, packaging Y trades with the largest transaction fee into blocks, wherein each block consists of a block head and a block body, the block head comprises a hash value, a version number, a leader certificate, a timestamp, a Merkle root and target hash information of the previous block, the block body comprises Y common trades and an original trade, the original trade transfers the reward obtained in the consensus process to an account of a reward distribution intelligent contract, the reward distribution intelligent contract distributes the reward to X miners and nodes participating in verification work after the X rounds of consensus process are finished, and the common trades are trades between an energy demand party and an energy supply party;
s22, the leader sends the block to other X-1 miners and participating verification nodes, the other X-1 miners and the verification nodes verify after receiving the block, the identity, the original transaction and the common transaction of the leader are verified, and a verification result is fed back to the miners;
and S23, if more than half of verifiers pass, the miners link the new block to the block chain, otherwise, the leader fails to excavate the mine.
S3. after the N rounds of consensus process are finished, the DAP base station which serves as a miner has no malicious behavior, the DAP base station is allowed to recover the fund stored in the public supervision account, the clear of the coin age of the DAP base station is zero, and therefore the verification node guaranteed by the miner can also recover the deposit; otherwise, the funds stored by the DAP base station serving as the miner and the guarantee funds of the verification node are not collected; and transferring the reward obtained by the round of mining to X miners and the nodes participating in verification work according to the reward distribution intelligent contract in proportion.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
1. in the design of the pricing mechanism, the transaction contract of both parties is designed to be (T) by adopting the rule of 'charging on time' commonly used in the marketi,Ri). A benefit function of an energy provider is designed from the energy consumption perspective, a formula for defining the type of the unmanned aerial vehicle is obtained through formula transformation, and the unmanned aerial vehicle with the higher type has lower hovering power pi mOr cost per unit energy ciAnd meanwhile, the higher the type of the unmanned aerial vehicle is, the greater benefit can be obtained. Thus facilitating a more energy efficient drone to provide charging services.
2. In the design of the consensus mechanism, the performance difference between the DAP base station and the unmanned aerial vehicle is fully considered, the DAP base station with sufficient resources has the right to apply for miners, the DAP base station without miners and the unmanned aerial vehicle with insufficient resources can only be used as verification nodes, and new blocks to be linked to the main chain in the network are verified. Meanwhile, a malicious miner classification process is added in the election process, the malicious miner classifier is obtained by adopting naive Bayesian algorithm training, the DAP base station passing through the malicious miner classifier has the right to be selected as a miner, and the safety of a consensus mechanism is enhanced.
Drawings
Fig. 1 is a flowchart of a wireless energy secure transaction mechanism of a drone based on a blockchain according to embodiment 1.
Fig. 2 is an architecture diagram of a wireless energy security transaction mechanism of a drone based on a blockchain according to embodiment 1.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described with reference to the drawings and the embodiments.
Example 1
The embodiment provides a block chain-based unmanned aerial vehicle wireless energy secure transaction mechanism, as shown in fig. 1, including a pricing mechanism and a consensus mechanism;
the pricing mechanism designs transaction pricing between an energy provider and an energy demander from the perspective of service time and consideration;
the consensus mechanism is designed based on the unmanned aerial vehicle and the base station, and a new transaction is verified by all nodes in the block chain and recorded to the block chain by a miner. 21 miners are selected from the base station to be responsible for connecting new transactions generated in the network to the block chain main chain through verification, and the base stations of other non-miners and the unmanned aerial vehicles can become verification nodes and are responsible for verifying new blocks to be connected with the block chain.
As shown in fig. 2, there are multiple energy consumers and energy providers, and an energy consumer may operate multiple DAPs to collect data sent by the sensors below for monitoring the environment or performing other functions. The energy provider provides charging service for the energy demander by using the unmanned aerial vehicle to obtain certain reward. Energy demanders and energy providers may be independent, both aiming to maximize their own interest. The transaction between the energy provider and the energy demander is that the energy provider sends the unmanned aerial vehicle to provide charging service for the energy demander, and the energy demander pays corresponding remuneration to the energy provider. The DAP base station and drone form a P2P network that implements a consensus mechanism to pack all transactions generated by energy providers and energy consumers into tiles linked to a chain of tiles.
In a preferred embodiment, the system further comprises a malicious miner classifier, which comprises three steps: behavior data set processing, model training and malicious miner prediction;
step 1. the behavioral dataset is represented as: d ═ x1,x2,...,xnEach of which example xiThe attribute of a certain miner is represented and consists of 7 characteristics, namely a currency age value, a total number of times of transaction, an online time length, time for joining a block chain network, a number of times of malicious behavior, a number of times of applying for the miner and a number of times of acting as the miner; all features are labeled 0 and 1, where 1 is denoted as malicious miner;
step 2, training a malicious miner classifier, namely obtaining the malicious miner classifier by using the data set arranged in the step one as input and adopting a naive Bayes algorithm as a training method;
and 3, constructing the information of the DAP base station into a test sample according to a standard format, calculating the probability that the test sample is malicious miner by using the obtained classifier, and judging the DAP as the malicious miner if the probability is more than 50%.
In a preferred scheme, the malicious miner classifier is represented as follows:
Figure BDA0002334024370000071
wherein P (1) represents the prior probability of a malicious miner,
Figure BDA0002334024370000081
expressed as the feature prior probability in the training sample,
Figure BDA0002334024370000082
and the probability distribution of each feature in the malicious miners is represented, and P (1| x) is the posterior probability obtained by calculation of the Bayes classifier and is represented as the probability of the malicious node.
In a preferred embodiment, the pricing mechanism comprises the steps of:
step 1, determining that the contract content is (T) according to the rule of 'charging on time' in the marketi,Ri)，TiIs the time when the energy provider provides charging service to the energy demander, RiI is the reward that the energy demand party pays to the energy provider, i indicates that the contract is of the ith type;
step 2. the benefit function of the energy provider is expressed as the reward obtained minus the charging cost, i.e.
Figure BDA0002334024370000083
Wherein c isiRepresenting the unit cost of energy, p represents the power of the wireless energy transmitter,
Figure BDA0002334024370000084
representing a hover power of the drone;
the benefit function of the energy demand side is expressed as the benefit generated by the charge minus the payment paid, i.e. the benefit generated by the charge minus the payment
Figure BDA0002334024370000085
Wherein beta represents the benefit coefficient, wherein,
Figure BDA0002334024370000086
representing the channel power gain between the K sensors and the unmanned aerial vehicle, which need to be charged by the energy demander;
step 3, in the benefit function of the energy provider, the unit cost c of the energyiAnd hovering power of the drone
Figure BDA0002334024370000087
The information is private information of the energy provider, and the energy provider cannot actively provide the information to the energy demander; then define the type of drone as
Figure BDA0002334024370000088
As can be seen from the formula, the lower the unit energy cost or the smaller the hovering power is, the higher the type of the drone is, and the lower the cost of providing the charging service is, the drone is divided into N types: theta1,
Figure BDA0002334024370000089
θi,
Figure BDA00023340243700000810
θNAnd satisfy
Figure BDA00023340243700000811
The benefit function of the energy provider can be rewritten as:
Figure BDA00023340243700000812
step 4, design rule according to contract theoryThen, the IR constraint is expressed as:
Figure BDA00023340243700000813
the IR constraint guarantee type is thetaiThe unmanned aerial vehicle accepts the contract (T) conforming to the type of the unmanned aerial vehiclei,Ri) The time benefit is more than zero;
the IC constraint is expressed as:
Figure BDA00023340243700000814
IC constraint guarantee type is thetaiThe unmanned aerial vehicle accepts the contract (T) conforming to the type of the unmanned aerial vehiclei,Ri) The time-of-day benefit is greater than the benefit of accepting other types of contracts, the contract design between the energy provider and the energy demander can be expressed as:
Figure BDA0002334024370000091
γirepresenting the probability of occurrence of the ith type of drone, C1 and C2 are the IR and IC constraints, respectively, and solving this optimization problem with mathematical tools allows to obtain N types of contracts (T)i,Ri) The specific numerical value of (1).
In a preferred scheme, the nodes comprise a DAP base station and a unmanned aerial vehicle;
the DAP base station is a data collection base station of an energy demand party and is used for collecting and processing data sent by the sensor;
the unmanned aerial vehicle is provided by an energy provider and charges a sensor of an energy demand party.
In a preferred embodiment, the consensus mechanism comprises the following steps:
s1, a group of credible DAP nodes with large currency ages are selected from a block chain network to serve as miners, and the credible DAP nodes are taken as leaders to lead other miners and verification nodes in turn to complete a consensus process;
s2, in the verification process, newly generated transactions in the network are packaged into blocks, the blocks are verified and then are linked to a block chain main chain, and a DAP node serving as a miner in the network executes a block packaging task and a verification node executes a verification task;
and S3, settling accounts, and distributing the income obtained by the round of mining to miners and nodes participating in work after all consensus processes and verification processes are finished.
In a preferred embodiment, the formula mechanism comprises the following specific steps:
s11, adding the unmanned aerial vehicle and the DAP base station into the block chain network for the first time, wherein the unmanned aerial vehicle and the DAP base station need to perform identity verification to verify that the unmanned aerial vehicle or the DAP base station entity exists really, and after the identity verification, the unmanned aerial vehicle and the DAP base station can obtain corresponding public keys, private keys and certificates for encryption, decryption, signature and identity verification;
s12, applying for a candidate, wherein a DAP base station of the candidate needs to store a fund into an account under the supervision of the public, and the fund number multiplied by the storage time is the age of the money owned by the DAP base station; if the DAP base station has bad behaviors in the process of executing the consensus, the fund is not collected; secondly, the DAP base station applying for the candidate needs to perform a prediction process of the malicious miner classifier, and the DAP base station passing through the prediction process can become the candidate;
s13, sorting according to the age of the candidate from big to small, selecting the first 21 candidates as miners in the new round of mining excavation process, and selecting other non-selected DAP candidates and unmanned aerial vehicles as verification nodes in the verification process; in the new round of consensus process, 21 miners take turns to be taken as leaders to lead other verifiers to complete a verification process;
s14, the DAP which is not selected by miners and all unmanned aerial vehicles are authorized to become verification nodes in the process of a new round of mining, and all transactions of a new block are verified and audited in the verification process; the requirement of becoming the verification node is that the DAP or the unmanned aerial vehicle pays a quota security deposit for one of 21 miners, and if the guaranteed miners cause the uplink failure of a new block or have malicious behaviors when the miners act as leaders, the security deposit is not paid;
s21, collecting newly generated transactions of a block chain network, packaging 1000 transactions with the largest transaction fee into blocks, wherein each block consists of a block head and a block body, the block head comprises a hash value, a version number, a leader certificate, a timestamp, a Merkle root and target hash information of the previous block, the block body comprises 1000 common transactions and an original transaction, the original transaction transfers the reward obtained in the consensus process to an account of a reward distribution intelligent contract, the reward distribution intelligent contract distributes the reward to 21 miners and nodes participating in verification work after 21 rounds of consensus processes are finished, and the common transactions are transactions between an energy demand party and an energy supply party;
s22, the leader sends the block to other 20 miners and participating verification nodes, the other 20 miners and the verification nodes verify after receiving the block, verify the identity, the original transaction and the common transaction of the leader, and feed back the verification result to the miners;
and S23, if more than half of verifiers pass, the miners link the new block to the block chain, otherwise, the leader fails to excavate the mine.
S3. after the N rounds of consensus process are finished, the DAP base station which serves as a miner has no malicious behavior, the DAP base station is allowed to recover the fund stored in the public supervision account, the empty currency age of the DAP base station is zero, and therefore the verification node guaranteed by the miner can also recover the deposit; otherwise, the funds stored by the DAP base station serving as the miner and the guarantee funds of the verification node are not collected; the reward obtained by the round of mining is transferred to 21 miners according to the reward distribution intelligent contract in proportion and participates in the nodes of verification work.
Example 2
The present embodiment provides specific embodiments of a pricing mechanism.
First, a specific value of the drone type is obtained. Assume that all drones are equipped with a uniform model of wireless energy transmitter with a power p of 100W. After research, the hovering power range of the unmanned aerial vehicle on the market is about 200W,2000W]And divides the hovering power into 36 types. Assuming energy unit costs c of different dronesiAre identical, and ci1/3600000 yuan/joule. From the drone type formula can be calculated: theta.theta.1＝12000,
Figure BDA0002334024370000111
θ36＝1714。
Secondly, the DAP calculates the optimal hovering position of the unmanned aerial vehicle according to the position distribution of the sensors needing to be charged, and calculates the channel power gain G between the unmanned aerial vehicle and the sensorsk。
Then, a specific optimization equation can be derived:
Figure BDA0002334024370000112
solving the equation can yield 36 contracts (T)i,Ri). The DPA base station broadcasts the 36 contracts to the drones that are interested in providing charging services, and the drones select a contract that conforms to their type and feed back the selection result to the DAP base station. And if the DAP base station receives the results fed back by the multiple unmanned aerial vehicles, the DAP selects the unmanned aerial vehicle capable of providing the maximum benefit to establish the transaction relationship. If the DAP base station receives a result fed back by the unmanned aerial vehicle, the DAP directly establishes a transaction relationship with the unmanned aerial vehicle.
The terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (6)

1. An unmanned aerial vehicle wireless energy safety transaction mechanism based on a block chain is characterized by comprising a pricing mechanism and a consensus mechanism;
the pricing mechanism designs transaction pricing between an energy provider and an energy demander from the aspects of service time and payment;
the consensus mechanism is designed based on an unmanned aerial vehicle and a base station, a new transaction is verified by all nodes in a block chain and recorded to the block chain by a certain miner, 21 miners are selected from the base station to be responsible for connecting the new transaction generated in the network to a main chain of the block chain through verification, and the base stations of other non-miners and the unmanned aerial vehicle can become verification nodes and are responsible for verifying a new block to be connected to the block chain;
the pricing mechanism comprises the following steps:
step 1, determining the type as theta according to the rule of 'charging on time' in the marketiThe content of the contract for the drone is (T)i,Ri)，TiIs the time when the energy provider provides charging service to the energy demander, RiThe payment paid by the energy demand party to the energy provider;
step 2. the benefit function of the energy provider is expressed as the reward obtained minus the charging cost, i.e.
Figure FDA0003651893350000011
Wherein c isiRepresenting the unit cost of energy, p represents the power of the wireless energy transmitter,
Figure FDA0003651893350000012
representing a hover power of the drone;
the benefit function of the energy demand side is expressed as the benefit generated by the charge minus the payment paid, i.e. the
Figure FDA0003651893350000013
Wherein beta represents the benefit coefficient, wherein,
Figure FDA0003651893350000014
representing the channel power gain between the K sensors and the unmanned aerial vehicle, which need to be charged by the energy demander;
step 3. at the energy providerCost per unit of energy c in the benefit functioniAnd hovering power of the drone
Figure FDA0003651893350000015
The information is private information of the energy provider, and the energy provider cannot actively provide the information to the energy demander; then define the type of drone as
Figure FDA0003651893350000016
As can be seen from the formula, the lower the cost per unit energy or the smaller the hovering power, the higher the type of the drone is, and the lower the cost of providing the charging service is, the types of the drone are: theta1,…,θi,…,θNAnd satisfies theta1＜…＜θi＜…＜θNThe benefit function of the energy provider may be rewritten as:
Figure FDA0003651893350000017
and 4, according to the design rule of the contract theory, the IR constraint is expressed as:
Figure FDA0003651893350000021
the IR constraint assurance type is θiThe unmanned aerial vehicle accepts the contract (T) conforming to the type of the unmanned aerial vehiclei,Ri) The time benefit is more than zero;
the IC constraints are expressed as:
Figure FDA0003651893350000022
IC constraint assurance type is thetaiThe unmanned plane accepts the contract (T) conforming to the type of the unmanned planei,Ri) The time-of-day benefit is greater than the benefit of accepting other types of contracts, the contract design between the energy provider and the energy demander can be expressed as:
Figure FDA0003651893350000023
s.t.C1:
Figure FDA0003651893350000024
C2:
Figure FDA0003651893350000025
C3:0≤R1＜…＜Ri＜…＜RN
γithe expression type is thetaiC1 and C2 are IR and IC constraints, respectively, and solving this optimization problem by mathematical tools yields N types of contracts (T)i,Ri) The specific numerical value of (1).
2. The blockchain-based unmanned aerial vehicle wireless energy secure transaction mechanism of claim 1, further comprising a malicious miner classifier comprising three steps: behavior data set processing, model training and malicious miner prediction;
step 1. the behavioral dataset is represented as: d ═ x1,x2,…,xi,…,xnEach of which example xiThe attribute of a certain miner is represented and consists of 7 characteristics, namely a currency age value, a total number of times of transaction, an online time length, time for joining a block chain network, a number of times of malicious behavior, a number of times of applying for the miner and a number of times of acting as the miner; all features are labeled 0 and 1, where 1 is denoted as malicious miner;
step 2, training a malicious miner classifier, namely obtaining the malicious miner classifier by using the data set arranged in the step one as input and adopting a naive Bayes algorithm as a training method;
and 3, constructing the information of the DAP base station into a test sample according to a standard format, calculating the probability that the test sample is malicious miner by using the obtained classifier, and judging the DAP as the malicious miner if the probability is more than 50%.
3. The blockchain-based drone wireless energy security transaction mechanism according to claim 2, characterized in that the malicious miner classifier is represented as:
Figure FDA0003651893350000031
wherein P (1) represents the prior probability of a malicious miner,
Figure FDA0003651893350000032
expressed as the feature prior probability in the training sample,
Figure FDA0003651893350000033
and the probability distribution of each feature in the malicious miners is shown, and P (1| x) is the posterior probability obtained by calculation of the Bayesian classifier and is shown as the probability of the malicious node.
4. The blockchain-based drone wireless energy secure transaction mechanism according to claim 1, wherein the nodes include a DAP base station and a drone;
the DAP base station is a data collection base station of an energy demand party and is used for collecting and processing data sent by the sensor;
the unmanned aerial vehicle is provided by an energy provider and charges a sensor of an energy demand party.
5. The mechanism of claim 1, wherein the consensus mechanism comprises the following steps:
s1, a consensus process, namely selecting a group of candidates from a block chain network, taking credible DAP nodes with large currency ages as miners, taking the credible DAP nodes as leaders in turn to lead other miners and verification nodes to complete the consensus process;
s2, in the verification process, newly generated transactions in the network are packaged into blocks, the blocks are verified and then are linked to a block chain main chain, and a DAP node serving as a miner in the network executes a block packaging task and a verification node executes a verification task;
and S3, settling accounts, and distributing the income obtained by the round of mining to miners and nodes participating in work after all consensus processes and verification processes are finished.
6. The unmanned aerial vehicle wireless energy secure transaction mechanism based on block chain of claim 4, characterized in that the specific steps of the consensus mechanism are as follows:
s11, adding the unmanned aerial vehicle and the DAP base station into the block chain network for the first time, wherein the unmanned aerial vehicle and the DAP base station need to perform identity verification to verify that the unmanned aerial vehicle or the DAP base station entity exists really, and after the identity verification, the unmanned aerial vehicle and the DAP base station can obtain corresponding public keys, private keys and certificates for encryption, decryption, signature and identity verification;
s12, applying for candidates, wherein a DAP base station of the applying candidates needs to store a fund into an account under the supervision of the public, and the fund number multiplied by the storage time is the age of the money owned by the DAP base station; if the DAP base station has bad behaviors in the process of executing the consensus, the fund is not collected; secondly, the DAP base station applying for the candidate needs to perform a prediction process of the malicious miner classifier, and the DAP base station passing through the prediction process can become the candidate;
s13, sorting according to the age of the candidate from big to small, selecting X candidates arranged in the front as miners in the process of new round mining, and selecting other non-selected DAP candidates and unmanned aerial vehicles as verification nodes in the verification process; in the new round of consensus process, X miners alternately serve as leaders to lead other verifiers to complete a verification process;
s14, the DAP which is not selected by miners and all unmanned aerial vehicles are authorized to become verification nodes in a new round of mining process, and all transactions of a new block are verified and audited in the verification process; the requirement of becoming the verification node is that the DAP or the unmanned aerial vehicle pays quota security funds for one of X miners, and if the guaranteed miners cause the cochain failure of a new block or have malicious behaviors when the miners act as leaders, the security funds are not paid;
s21, collecting newly generated transactions of a block chain network, packaging Y transactions with the largest transaction fee into blocks, wherein each block consists of a block head and a block body, the block head comprises a hash value, a version number, a leader certificate, a timestamp, a Merkle root and target hash information of the previous block, each block body comprises Y common transactions and an original transaction, the original transaction transfers the reward obtained in the consensus process to an account of a reward distribution intelligent contract, the reward distribution intelligent contract distributes the reward to X miners and nodes participating in verification work after the X-round consensus process is finished, and the common transactions are transactions between an energy demand party and an energy supply party;
s22, the leader sends the block to other X-1 miners and participating verification nodes, the other X-1 miners and the verification nodes verify after receiving the block, the identity, the original transaction and the common transaction of the leader are verified, and a verification result is fed back to the miners;
s23, if more than half of verifiers pass, the miners link the new block to the block chain, otherwise, the leader fails to excavate the mine;
s3. after the N rounds of consensus process are finished, the DAP base station which serves as a miner has no malicious behavior, the DAP base station is allowed to recover the fund stored in the public supervision account, the empty currency age of the DAP base station is zero, and therefore the verification node guaranteed by the miner can also recover the deposit; otherwise, the funds stored by the DAP base station serving as the miner and the guarantee funds of the verification node are not collected; the reward obtained by the round of mining is transferred to X miners and the nodes participating in the verification work according to the proportion.
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