CN115866709A - Unmanned aerial vehicle swarm clustering ad hoc network method based on delegation equity certification - Google Patents
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Abstract
The invention provides a trust equity certification-based clustering ad hoc network method for a swarm of an unmanned aerial vehicle, which comprises the following steps: in a task binding stage before taking off, performing identity authentication on the unmanned aerial vehicles participating in the task, and binding the task according to the deployment condition of the unmanned aerial vehicle swarm and the target position specified by the task; each unmanned aerial vehicle carries out communication inquiry on neighbor nodes in the communication action distance of the unmanned aerial vehicle and collects handshake information to complete initial selection of the initial seed nodes based on the area networking; carrying out region initial main node election and networking in a cluster of the whole unmanned aerial vehicle bee colony; and taking the unmanned aerial vehicles of the main nodes in each cluster as respective cluster heads, and performing decentralized unmanned aerial vehicle swarm networking according to the principle of entrusting equity certification. The method of the invention solves the defects that the central master-slave mode bee colony system has insufficient robustness and is easy to crash, and the consistency behavior process of the completely centerless bee colony network consumes long time and is weak in degree.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a swarm clustering ad hoc network method, a system, electronic equipment and a storage medium of an unmanned aerial vehicle based on delegation rights and interests certification.
Background
In the prior art, swarm cooperation is a typical working mode of unmanned vehicles such as unmanned aircrafts/unmanned vehicles/unmanned ships. The unmanned aerial vehicle swarm system is a flight system which is composed of a certain number of unmanned aerial vehicles with different functions, can cooperate with each other and has the characteristic of capability emergence on the whole. The grouping mode of the unmanned aerial vehicle bee colony can be a master-slave mode or a centerless mode. The cooperation of the bee colony can greatly improve the capability of a single aircraft, exert the advantages of large quantity, wide range, high speed and flexible operation, and improve the capabilities of the bee colony in joint target search, environment situation perception and task cooperation.
The swarm system based on the master-slave type is easy to realize, but the system is too dependent on communication and computing resources of the master node, so that the survivability of the system is insufficient, once the master node fails, the whole system is easy to be paralyzed, even the master node is hijacked to generate an overall behavior opposite to the expected behavior, and a backup master node rotation mechanism can generate huge rotation consumption. While a completely decentralized swarm system has good robustness, there is a disadvantage of slow convergence process to achieve the consistency of the overall behavior characteristics, which is especially pronounced in a large-scale swarm system consisting of a large number of unmanned vehicles.
The delegation of rights and interests (DPOS) is a typical consensus mechanism in the field of block chain technology, and the mechanism is used for solving the defects that the traditional workload certification mechanism (POW) is high in computational power resource consumption and the rights and interests (POS) is easy to form an account number with excessive rights, by electing a plurality of agents in decentralized distributed nodes to be responsible for verification and accounting.
The trust rights and interests certification mechanism provides a good reference for organizing and implementing the large-scale unmanned aerial vehicle swarm system, and the large-scale swarm system can achieve the balance of system efficiency and robustness by applying the consensus mechanism of the trust rights and interests certification.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a clustering ad hoc network method of unmanned aerial vehicle swarm based on delegation rights and interests certification, and the method solves the defects that a centralized master-slave type swarm system is insufficient in robustness and easy to crash, and a completely centerless swarm network consistency behavior process consumes long time and is weak in degree.
In order to achieve the purpose, the invention provides a clustering ad hoc network method of unmanned aerial vehicle bee colony based on delegation rights and interests certification, which comprises the following steps:
in a task binding stage before taking off, performing identity authentication on the unmanned aerial vehicles participating in the task, and binding the task according to the deployment condition of the unmanned aerial vehicle swarm and the target position specified by the task;
each unmanned aerial vehicle carries out communication inquiry on neighbor nodes in the communication action distance of the unmanned aerial vehicle and collects handshake information to complete initial selection of the initial seed nodes based on the area networking;
carrying out region initial main node election and intra-cluster networking on the whole unmanned aerial vehicle bee colony;
and taking the unmanned aerial vehicles of the main nodes in each cluster as respective cluster heads, and performing decentralized unmanned aerial vehicle swarm networking according to the principle of entrusting equity certification.
Further, the step of performing identity authentication on the unmanned aerial vehicle participating in the task binding stage before take-off and performing task binding according to the deployment condition of the unmanned aerial vehicle swarm and the target position specified by the task further comprises,
issuing identity certification based on the load configuration, the MAC address and the data link identification of the unmanned aerial vehicle;
the bound task parameters comprise task type detection or delivery, aggregation point location and target area.
Furthermore, each unmanned aerial vehicle carries out communication inquiry on the neighbor nodes in the communication action distance of the unmanned aerial vehicle and collects handshake information to complete the step of initial selection of the area initial seed node based on the area networking, and the method also comprises the following steps,
the node i of the unmanned aerial vehicle sends a networking request to a cluster in a communication action distance, wherein the networking request comprises the identity information of the node i and an electronic signature
In which>
For identity information, including a transmission timestamp->
And an expiration date->
Valid period->
For the expiry time of the current message, <' >>
Then it is an electronic signature;
the neighbor node m receives the network establishment request forwarded by the unmanned aerial vehicle node
By sending a time stamp->
And validity period->
Judging the validity of the network establishing request, and based on the received valid network establishing request->
And &>
Selecting the information of the short distance to respond, and sending a response to the informationHandshake information pick-up>
Wherein->
Information of the election node at a short distance of m points is analyzed>
Is identity information.
Further, the steps of carrying out region initial main node election of the whole unmanned aerial vehicle bee colony and networking in a cluster also comprise,
after primary selection of the initial main nodes in the area is completed, each unmanned aerial vehicle node m in the bee colony has a network building node k (m), and the whole unmanned aerial vehicle bee colony generates a plurality of temporary network building node sequences { k } which are respectively used as the sub-centers of the area;
and (3) primarily selecting the obtained temporary network building node sequence { k }, and if the quantity of the obtained handshaking information is more than 8, respectively sending formal network building requests to the unmanned aerial vehicle swarm nodes within the communication action distance
Wherein C (k) is identity information, S (k) is an electronic signature>
Handshake information obtained in the initial selection stage;
when node m receives the formal network establishment request containing the self handshake information V (m)
If yes, replying a message for refusing to build the network to the request node k, otherwise replying a message for allowing to build the network to the request node k;
after receiving the network establishment request responded by the node m, the node k generates a confirmation message of the response message sent by the node m, returns the confirmation message to the node m and broadcasts the confirmation message to other nodes in the unmanned aerial vehicle swarm;
the confirmation message comprises formal network establishment request information and identity information of both parties, and the quantity of the handshake information is correspondingly increased or reduced according to the quantity requirement of the handshake information.
Further, the step of performing decentralized unmanned aerial vehicle swarm networking by taking the unmanned aerial vehicle of the main node in each cluster area as the cluster head of each cluster according to the principle of entrusting equity certification also comprises the steps of,
after the main nodes in each area complete the network establishment and confirmation in the cost cluster, broadcasting the networking request among the clusters to the whole unmanned aerial vehicle swarm
Wherein a is a region master node, C (a) is identity information, S (a) is an electronic signature, and/or a combination thereof>
For its position and speed information, ->
The information approved by the master node b in other areas, which is acquired for the networking request, comprises signature information and position and speed information of the approved node b;
the non-main nodes in each cluster transmit the inter-cluster networking requests of the main nodes of the cluster and the main nodes of the areas in other clusters, the inter-cluster networking requests sent by the main nodes of the cluster are transmitted to other clusters, and the inter-cluster networking requests of the main nodes of the areas in other clusters are transmitted to the cluster;
in a first communication period, if the regional main nodes receive networking requests from other main nodes, selecting the request which is received firstly and has the largest number of the regional main nodes to obtain signatures for responding;
in the second communication period, all the regional main nodes respond and forward the inter-cluster networking request with the most signatures according to the principle in the first communication period until the inter-cluster networking request is consistent, and then time synchronization of the whole bee colony is completed;
and each node is responsible for searching a target node near the predicted position by adopting a directional data link according to the position of each node in the networking information, and keeps the communication maintenance of the directional data link after obtaining the node response.
Further, the method also comprises the steps of carrying out intra-cluster networking maintenance,
when a new node unmanned aerial vehicle joins in a cluster or a fault node unmanned aerial vehicle exits, sending a network access request or an exit statement to a region main node of the unmanned aerial vehicle in the cluster, and if the region main node fails, replacing the region main node according to an election mechanism;
for the node application of new network access, the regional main node in the cluster checks the identity information and then approves the identity information, and broadcasts the information to the cluster, and the nodes in the cluster forward the information in the cluster;
and for the exit declaration containing the self node, checking whether the information source of the declaration conforms to the identity information and then broadcasting the information source to the cluster.
Further, when the regional master node exits or other nodes in the cluster find that the master node is failed, other cluster nodes select a new regional master node in the cluster.
Furthermore, the method also comprises the following steps of,
each node in the cluster broadcasts an election request of the node to the cluster in an omnidirectional way;
each node in the cluster mutually forwards election requests of other nodes in the cluster, and the forwarded requests are not forwarded any more;
each node in the cluster replies to the received election request, elects and confirms in a communication period according to the communication time consumption minimum priority principle, returns a confirmation message to the elected node and broadcasts the whole network;
after the cluster receives the voting reply message of each node, recording the number of votes, confirming the elected regional main node of a new round according to the principle that more than half of the total number in the cluster is used, and broadcasting the confirmation message to the whole cluster;
if the voting nodes in the first round do not exceed more than half of the votes, voting the voting nodes again according to the principle of voting number priority, and broadcasting the voting confirmation message to the whole cluster;
and the node of the whole cluster calculates the number of tickets of the received message, confirms the elected regional main node of a new round according to the principle that more than half of the total number in the cluster is adopted, and broadcasts the confirmation message to the whole cluster.
In order to achieve the above object, the present invention further provides an electronic device, which includes a memory and a processor, where the memory stores a program running on the processor, and the processor executes the steps of the unmanned aerial vehicle swarm clustering ad hoc network method based on delegation rights and interests certification when running the program.
To achieve the above object, the present invention further provides a computer readable storage medium having stored thereon computer instructions which, when executed, perform the steps of the above-mentioned unmanned aerial vehicle bee colony clustering ad hoc network method based on delegation rights and interests certification.
The unmanned aerial vehicle swarm clustering ad-hoc network method and the system based on the delegation rights and interests certification have the following beneficial effects:
compared with a master-slave mode unmanned aerial vehicle swarm system, the system has good system robustness; compared with the completely decentralized unmanned aerial vehicle swarm system, the system maintenance cost is low, especially the functional separation of the inter-cluster networking and the intra-cluster networking is realized, and the consistency of the whole swarm system is realized at lower cost.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention.
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The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of a clustering ad hoc network method for a swarm of unmanned aerial vehicles based on delegation equity certification according to an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example 1
Fig. 1 is a flowchart of an unmanned aerial vehicle swarm clustering ad hoc network method based on delegation equity certification according to the present invention, and the unmanned aerial vehicle swarm clustering ad hoc network method based on delegation equity certification according to the present invention will be described in detail with reference to fig. 1.
In step 101, in a task binding stage before takeoff, identity authentication is performed on the unmanned aerial vehicles participating in the task, and the task binding is performed according to the deployment condition of the unmanned aerial vehicle swarm and the target position specified by the task.
Preferably, the identification is issued based on the unmanned aerial vehicle's load configuration, MAC address, data link identification.
Preferably, the bound task parameters include: task type (investigation or delivery), rendezvous point location, target area.
In step 102, each unmanned aerial vehicle relies on the omnidirectional scanning function of the airborne data link device to perform communication inquiry on the neighbor nodes in the communication action distance of the unmanned aerial vehicle and collect handshake information, so as to complete initial selection of the area seed nodes based on area networking.
Preferably, after the unmanned aerial vehicle cluster flies to reach the area near the aggregation point, a constant-speed direct navigation or hovering state is performed to keep the distance stable, and the first step of ad hoc networking, namely 'initial main node primary selection in the area' is started.
Preferably, in the area near the femto aggregation point, each node triggers an action of 'initial primary master node selection in the area' according to a preset condition. The unmanned aerial vehicle node i sends a networking request to a cluster in a communication action distance, wherein the networking request comprises the identity information of the node i and an electronic signature in the form of
Wherein->
For identity information, including a transmission timestamp->
And an expiration date->
Valid period->
For the expiry time of the current message, <' >>
It is an electronic signature.
Preferably, the neighbor node m receives the network establishment request sent by the unmanned aerial vehicle node i or forwarded by other nodes
First by sending a time stamp->
And validity period->
Judging the validity of the networking request, namely judging whether the difference between the sending time stamp and the receiving time exceeds a preset time threshold, if so, the information is invalid, otherwise, the information is valid; for a valid networking request received simultaneously->
、/>
Selects the information closer to itself to respond, and sends response handshake information to it>
Wherein->
The information of the election node closer to the m point of the election node is judged>
Is the identity information of the user.
Preferably, if node m responds to the network establishment request of node i, then it will simultaneously request for network establishment
And broadcasting the information to the neighbor nodes within the communication action distance, and not responding to the network establishing requests of other nodes, and simultaneously not sending the network establishing requests initiated by the nodes. Node m does not respond to a network establishment request forwarded over two hops>
。
In step 103, initial main node election and intra-cluster networking of the whole unmanned aerial vehicle swarm are conducted.
Preferably, after the initial primary selection of the main node in the area is completed, each unmanned aerial vehicle node m in the swarm finds a network building node k (m); the whole unmanned aerial vehicle bee colony generates a plurality of temporary networking node sequences { k } which are respectively used as the sub-centers of the regions. In the step, the primarily selected temporary network building node groups are adjusted according to the communication distance through information interaction among the temporary network building nodes, and intra-cluster networking of the whole unmanned aerial vehicle bee colony is carried out, so that the whole unmanned aerial vehicle bee colony is divided into a plurality of clusters.
Preferably, if the quantity of the obtained handshake information is more than 8, the obtained temporary network building node sequence { k } is initially selected, and formal network building requests are respectively sent to the unmanned aerial vehicle swarm nodes within the communication range of the unmanned aerial vehicle swarm nodes
Wherein->
Has the same meaning as above and is on the basis of the presence of a marker>
The handshake information obtained in the initial selection stage is referred to, the number of V (m) is 16 at most, and the reservation principle is 16 handshake nodes with the fastest reception.
Preferably, the node m receives the positive handshake information V (m) containing the self handshake informationType of network establishment request
If the node m participates in the initial selection, sending a message response for refusing to establish the network to the request node k; otherwise, sending a message response for allowing network establishment to the requesting node k.
Preferably, after receiving the response of the node m to the self formal network establishment request, the node k generates a confirmation message of the response message sent by the node m, returns the confirmation message to the node m, and broadcasts the confirmation message to other nodes in the unmanned aerial vehicle swarm, wherein the confirmation message comprises formal network establishment request information and identity information of both parties, and the quantity of the handshake information is correspondingly increased or decreased until the quantity of the handshake information is 16.
Preferably, if the node m does not receive the request containing the self-handshake information V (m) in the receiving period, where the receiving period is a Time interval whose value is equal to the two communication ranges plus the Time length of one-Time relay forwarding, and if the receiving period is exceeded, the node m no longer responds to the formal network establishment request, then the node m searches for the formal network establishment request with less handshake information quantity 16 to respond, and if the node m receives two or more formal network establishment request information, then the node m selects to respond according to the following indexes, and the score index of the formal network establishment request is-10 times cs + nv, where Time _ cs is the communication transmission Time from the transmission of the formal network establishment request to the local; nv is the effective handshake number contained in the formal network establishment request, namely, the effective handshake number is selected according to the communication transmission hop count and the handshake number again; after selecting the response of the formal network establishment request, the node m simultaneously forwards the response information to the node initiating the formal network establishment request and the neighbor nodes of the node m.
Preferably, if the node m has not received the confirmation message all the time, the node m is taken as a regional master node to actively initiate election and send a supplementary network establishment request to the nodes within the action distance
At this time, other nodes are responsible for forwarding the request at the same time; nodes which are not confirmed to establish network can respond to the supplementary network establishment request without being limited by the forwarding hop numberAnd m, sending a confirmation message to the node responding to the supplementary network establishment request within a specified time.
In step 104, after the networking of the whole unmanned aerial vehicle swarm in a cluster is completed, the unmanned aerial vehicles of the main nodes in the area of each cluster are used as the cluster heads of the unmanned aerial vehicles, and decentralized networking of the unmanned aerial vehicle swarm is performed according to the principle of entrustment rights and interests certification.
Preferably, after the master nodes in each area complete network establishment and confirmation in the local cluster, the master nodes immediately broadcast the networking requests among the clusters to the whole unmanned aerial vehicle swarm
Wherein a denotes a zone master node, which holds>
Means as above, in>
Refers to its position and speed information->
The information authorized by the master node b in other areas, which is obtained by the networking request, includes signature information and position and speed information of the authorized node b.
Preferably, the non-master node in each cluster participates in forwarding the inter-cluster networking request of the local cluster and the local master node in other clusters, the inter-cluster networking request sent by the master node in the local cluster is forwarded to other clusters, and the inter-cluster networking request of the local master node in other clusters is forwarded to the local cluster.
Preferably, in the first communication cycle, if the regional master node c has not sent an inter-cluster networking request, that is, receives networking requests from other master nodes, the request with the largest number of regional master nodes that have received and obtained signatures first is selected to respond, and the response specific operation is to add its own signature to the networking request to obtain information
And sends the broadcast to the entire network.
Preferably, in the second communication period, each regional master node responds and forwards the inter-cluster networking request with the most signatures according to the above principle, the inter-cluster networking requests reach the same at most in the third communication period, and after reaching the same, the system time of the regional master node keeps the same with the networking node a, so that the time synchronization of the whole bee colony is completed.
Preferably, each node uses the directional data link to search for the target node near the predicted position according to the position of each node in the networking information, and keeps the communication maintenance of the directional data link after obtaining the node response.
In step 105, intra-cluster networking maintenance is performed.
Preferably, when a new node unmanned aerial vehicle joins in the cluster or a fault node unmanned aerial vehicle exits, a network access request and an exit statement are sent to the regional master node of the unmanned aerial vehicle in the cluster, and if the regional master node fails, the regional master node is replaced according to an election mechanism.
Preferably, for a node application newly accessing a network, a regional master node in the cluster checks the identity information of the node application, then examines and approves the node application, and broadcasts the node application to the cluster, and the nodes in the cluster forward the node application in the cluster.
Preferably, for the exit declaration containing the self node, whether the information source of the declaration conforms to the identity information is checked, and then the information source is broadcasted to the cluster.
In step 106, a cluster region master node election is performed.
Preferably, when the area master node exits or other nodes in the cluster find that the master node is invalid, other cluster nodes perform a new round of voting to elect a new area master node in the cluster.
Preferably, the step of "performing election of master nodes in a clustering area" may be specifically performed as:
(1) Each node in the cluster broadcasts an election request of the node to the cluster in an omnidirectional way;
(2) Each node in the cluster is responsible for mutually forwarding election requests of other nodes in the cluster, and forwarding is not performed if the election requests are forwarded;
(3) Each node in the cluster replies to the received election request, elects and confirms in a communication period according to the communication time consumption minimum priority principle, returns a confirmation message to the elected node and broadcasts the whole network; if other nodes are elected, the node does not broadcast the own election request any more;
(4) After the cluster receives the voting reply message of each node, recording the number of votes, confirming the elected regional main node of a new round according to the principle that more than half of the total number in the cluster is used, and broadcasting the confirmation message to the whole cluster;
(5) If the election nodes in the first round do not exceed more than half of the votes, voting is carried out again for the election nodes according to the principle that the votes are given priority, and a new round of voting confirmation message is broadcasted to the whole cluster;
(6) And the node of the whole cluster calculates the number of tickets of the received message, confirms the elected regional main node of a new round according to the principle that more than half of the total number in the cluster is adopted, and broadcasts the confirmation message to the whole cluster.
In step 107, based on the delegation rights and interests certification, consistency decision and execution control of the swarm behavior are performed according to a decentralized principle.
Preferably, after the whole intra-cluster networking and inter-cluster networking are completed, the behavior mode of the whole unmanned aerial vehicle swarm takes the region master nodes of all the clusters as right consignors, the consistency decision and execution control of the swarm behavior are carried out according to the decentralized principle, and the swarm in the clusters follows the behavior mode of the region master nodes with the temporary master-slave mode, so that the consistency of the system behavior of the whole swarm is realized.
The invention provides an unmanned aerial vehicle bee colony clustering ad hoc network method based on delegation interest certification, which is used for solving the problems that a master-slave unmanned aerial vehicle bee colony system is poor in robustness and the consistency of a completely decentralized unmanned aerial vehicle bee colony system is not strong in realization. The intra-cluster networking adopts a temporary master-slave structure to maintain the system, and realizes the rotation of the main nodes of the regions in the clusters by using a competition mechanism based on voting; and the consistency of the overall behavior is realized among clusters based on voting among main nodes in the clustering areas. The method solves the defects that a centralized master-slave mode bee colony system is insufficient in robustness and easy to crash, and a completely centerless bee colony network consistency behavior process consumes long time and is weak in consistency degree.
The invention also provides electronic equipment which comprises a memory and a processor, wherein the memory stores a program running on the processor, and the processor executes the steps of the unmanned aerial vehicle swarm clustering ad hoc network method based on the delegation rights and interests certification when running the program.
The invention further provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions execute the steps of the unmanned aerial vehicle swarm clustering ad hoc network method based on the delegation interest certificate when the computer instructions run, and the unmanned aerial vehicle swarm clustering ad hoc network method based on the delegation interest certificate is described in the foregoing description and is not repeated.
Those of ordinary skill in the art will understand that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle swarm clustering ad hoc network method based on delegation rights and interests certification is characterized by comprising the following steps:
in a task binding stage before taking off, performing identity authentication on the unmanned aerial vehicles participating in the task, and binding the task according to the deployment condition of the unmanned aerial vehicle swarm and the target position specified by the task;
each unmanned aerial vehicle carries out communication inquiry on neighbor nodes in the communication action distance of the unmanned aerial vehicle and collects handshake information to complete initial selection of the initial seed nodes based on the area networking;
carrying out region initial main node election and intra-cluster networking on the whole unmanned aerial vehicle bee colony;
and taking the unmanned aerial vehicles of the regional main nodes of each cluster as respective cluster heads, and performing decentralized unmanned aerial vehicle swarm networking according to the principle of delegation rights and interests certification.
2. The unmanned aerial vehicle bee colony clustering ad hoc network method based on the delegation equity certification as claimed in claim 1, wherein in a task binding stage before takeoff, identity authentication is performed on the unmanned aerial vehicle participating in the task, and the step of binding the task is performed according to the deployment condition of the unmanned aerial vehicle bee colony and the target position designated by the task, further comprising,
issuing identification based on the load configuration, the MAC address and the data link identification of the unmanned aerial vehicle;
the bound task parameters comprise task type detection or delivery, aggregation point location and target area.
3. The unmanned aerial vehicle swarm clustering and ad hoc network method based on the delegation equity certification as claimed in claim 1, wherein each unmanned aerial vehicle performs communication inquiry to neighboring nodes in its own communication range and collects handshake information to complete the step of area initial seed node primary selection based on area networking, further comprising,
the node i of the unmanned aerial vehicle sends a networking request to a cluster in a communication action distance, wherein the networking request comprises the identity information of the node i and an electronic signature
the neighbor node m receives the network establishment request forwarded by the unmanned aerial vehicle node
By sending a time stamp->
And validity period->
Judging the validity of the network establishing request, and based on the received valid network establishing request->
And &>
Selecting information at a close distance to respond, sending thereto response handshake information ≥>
Wherein->
Information of the election node at a short distance of m points is analyzed>
Is identity information.
4. The unmanned aerial vehicle bee colony clustering ad-hoc network method based on delegation rights and interests certification according to claim 1, wherein the step of conducting region initial master node election and intra-cluster networking of the entire unmanned aerial vehicle bee colony further comprises,
after primary selection of the initial main nodes in the area is completed, each unmanned aerial vehicle node m in the bee colony has a network building node k (m), and the whole unmanned aerial vehicle bee colony generates a plurality of temporary network building node sequences { k } which are respectively used as the sub-centers of the area;
and (3) primarily selecting the obtained temporary network building node sequence { k }, and if the quantity of the obtained handshaking information is more than 8, respectively sending formal network building requests to the unmanned aerial vehicle swarm nodes within the communication action distance
Wherein C (k) is identity information and S (k) is an electronic signature, and/or a combination thereof>
Handshake information obtained in the initial selection stage;
when node m receives the formal network establishment request containing the self handshake information V (m)
If yes, replying a message of refusing to build the network to the requesting node k, otherwise, replying a message of allowing to build the network to the requesting node k;
after receiving the network establishment request responded by the node m, the node k generates a confirmation message of the response message sent by the node m, returns the confirmation message to the node m and broadcasts the confirmation message to other nodes in the unmanned aerial vehicle swarm;
the confirmation message comprises formal network establishment request information and identity information of both parties, and the quantity of the handshake information is correspondingly increased or reduced according to the quantity requirement of the handshake information.
5. The unmanned aerial vehicle swarm clustering and ad hoc network method based on the delegation equity certification as claimed in claim 1, wherein the step of performing decentralized unmanned aerial vehicle swarm networking with each clustered area master unmanned aerial vehicle as its own cluster head according to the principle of delegation equity certification further comprises,
after the master nodes in each area complete network establishment and confirmation in the local cluster, broadcasting an inter-cluster networking request to the whole unmanned aerial vehicle swarm
Wherein a is the area master node, C (a) is the identity information, S (a) is the electronic signature, and/or the combination thereof>
For its position and speed information, ->
The information approved by the master node b in other areas, which is acquired for the networking request, comprises signature information and position and speed information of the approved node b;
the non-main nodes in each cluster transmit the inter-cluster networking requests of the main nodes of the cluster and the main nodes of the areas in other clusters, the inter-cluster networking requests sent by the main nodes of the cluster are transmitted to other clusters, and the inter-cluster networking requests of the main nodes of the areas in other clusters are transmitted to the cluster;
in a first communication period, if the regional main nodes receive networking requests from other main nodes, selecting the request which is received firstly and has the largest number of the regional main nodes to obtain signatures for responding;
in the second communication period, all the regional main nodes respond and forward the inter-cluster networking request with the most signatures according to the principle in the first communication period until the inter-cluster networking request is consistent, and then time synchronization of the whole bee colony is completed;
and each node is responsible for searching a target node near the predicted position by adopting a directional data link according to the position of each node in the networking information, and after the node responses, the communication maintenance of the directional data link is maintained.
6. The unmanned aerial vehicle swarm clustering ad-hoc network method based on delegation equity certification according to claim 1, further comprising performing intra-cluster networking maintenance,
when a new node unmanned aerial vehicle joins in a cluster or a fault node unmanned aerial vehicle exits, sending a network access request or an exit statement to a region main node of the unmanned aerial vehicle in the cluster, and if the region main node fails, replacing the region main node according to an election mechanism;
for the node application of new network access, the regional main node in the cluster checks the identity information and then approves the identity information, and broadcasts the information to the cluster, and the nodes in the cluster forward the information in the cluster;
and for the exit declaration containing the self node, checking whether the information source of the declaration conforms to the identity information and then broadcasting the information source to the cluster.
7. The unmanned-aerial-vehicle-swarm clustering ad-hoc-networking method based on delegation-interest-certification according to claim 1, further comprising, when a regional master node exits or other nodes in the cluster find the master node to fail, electing a new regional master node in the cluster by other cluster nodes.
8. The unmanned aerial vehicle bee colony clustering ad-hoc network method based on delegation rights and interests certification according to claim 7, further comprising,
each node in the cluster broadcasts an election request of the node to the cluster in an omnidirectional way;
each node in the cluster mutually forwards election requests of other nodes in the cluster, and the forwarded requests are not forwarded any more;
each node in the cluster replies to the received election request, elects and confirms in a communication period according to the communication time consumption minimum priority principle, returns a confirmation message to the elected node and broadcasts the whole network;
after the cluster receives the voting reply message of each node, recording the number of votes, confirming the elected regional main node of a new round according to the principle that more than half of the total number in the cluster is used, and broadcasting the confirmation message to the whole cluster;
if the election nodes in the first round do not exceed more than half of the votes, voting again for the election nodes according to the principle that the votes are given priority, and broadcasting the voting confirmation message into the whole cluster;
and the node of the whole cluster calculates the number of tickets of the received message, confirms the elected regional main node of a new round according to the principle that more than half of the total number in the cluster is adopted, and broadcasts the confirmation message to the whole cluster.
9. An electronic device comprising a memory and a processor, wherein the memory stores a program running on the processor, and the processor executes the program to perform the steps of the unmanned aerial vehicle swarm clustering ad hoc network method based on delegation rights and interests certification according to any one of claims 1-8.
10. A computer readable storage medium having stored thereon computer instructions that when executed perform the steps of the proof of trust based unmanned aerial vehicle swarm clustering ad hoc network method of any one of claims 1-8.
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