CN115866709B - Unmanned aerial vehicle bee colony clustering ad hoc network method and equipment based on trust rights and interests proving - Google Patents
Unmanned aerial vehicle bee colony clustering ad hoc network method and equipment based on trust rights and interests proving Download PDFInfo
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Abstract
The invention provides an unmanned aerial vehicle bee colony clustering ad hoc network method based on trust rights and interests proving, which comprises the following steps: in the task binding stage before take-off, identity authentication is carried out on unmanned aerial vehicles participating in the task, and task binding is carried out according to the deployment condition of the unmanned aerial vehicle bee colony and the target position designated by the task; each unmanned aerial vehicle performs communication inquiry on neighbor nodes at the communication action distance of the unmanned aerial vehicle and collects handshake information to finish initial selection of area initial seed nodes based on area networking; performing regional initial main node election and intra-cluster networking of the entire unmanned aerial vehicle bee colony; and taking the unmanned aerial vehicles of the regional main nodes of each cluster as the respective cluster head, and carrying out the decentralized unmanned aerial vehicle bee networking according to the principle of proving the entrusted rights. The method solves the defects that the master-slave type bee colony system with the center is insufficient in robustness and easy to collapse, and the consistency behavior process of the center bee colony network is long in time consumption and weak in degree.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle bee colony clustering ad hoc network method, system, electronic equipment and storage medium based on trust benefit certification.
Background
In the prior art, the swarm cooperation is a typical working mode of unmanned vehicles such as unmanned aerial vehicles/unmanned ships. The unmanned aerial vehicle bee colony system consists of a certain number of unmanned aerial vehicles with different functions, and can cooperate with each other, and the whole unmanned aerial vehicle bee colony system has the characteristic of emerging capability. The unmanned aerial vehicle swarm may be in a master-slave mode or in a centerless mode. The swarm cooperation can greatly improve the capability of a single aircraft, exert the advantages of a large number, wide range, high speed and flexible combat, and improve the capabilities of swarm combined target search, environmental situation perception, task cooperation and the like.
The bee colony system based on the master-slave mode is easy to realize, but the system is insufficient in survivability due to the fact that the system is too dependent on communication and computing resources of the master node, once the master node breaks down, the whole system is easy to break down, even hijacking is carried out to generate integral actions opposite to expectations, and a backup master node rotation mechanism also generates huge rotation consumption. However, there is a disadvantage that the uniform convergence process to achieve the overall behavior characteristics is slow, and this disadvantage is more pronounced especially in large-scale swarm systems consisting of a large number of unmanned vehicles.
The delegated rights and interests proving (DELEGATED PROOF OF STAKE, DPOS) is a typical consensus mechanism in the blockchain technology field, which solves the problems that the traditional workload proving mechanism (POW) has large power consumption and the rights and interests proving mechanism (POS) easily forms richest family account rights and is too large by selecting a plurality of agents to be responsible for verification and accounting in the decentralized distributed nodes.
The implementation of the delegated rights proving mechanism in a large-scale unmanned aerial vehicle swarm system provides a reference for good organization implementation, and the large-scale swarm system achieves balance of system efficiency and robustness by applying the consensus mechanism of delegated rights proving.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides the unmanned aerial vehicle swarm clustering ad hoc network method based on trust benefit proving, which solves the defects that a centralized master-slave swarm system is insufficient in robustness and easy to collapse, and the consistency behavior process of a centralized swarm network is completely free from long time consumption and weak degree.
In order to achieve the above purpose, the invention provides an unmanned aerial vehicle bee colony clustering ad hoc network method based on trust benefit certification, which comprises the following steps:
In the task binding stage before take-off, identity authentication is carried out on unmanned aerial vehicles participating in the task, and task binding is carried out according to the deployment condition of the unmanned aerial vehicle bee colony and the target position designated by the task;
Each unmanned aerial vehicle performs communication inquiry on neighbor nodes at the communication action distance of the unmanned aerial vehicle and collects handshake information to finish initial selection of area initial seed nodes based on area networking;
performing regional initial main node election and intra-cluster networking of the entire unmanned aerial vehicle bee colony;
And taking the unmanned aerial vehicles of the regional main nodes of each cluster as the respective cluster head, and carrying out the decentralized unmanned aerial vehicle bee networking according to the principle of proving the entrusted rights.
Further, in the task binding stage before take-off, identity authentication is performed on unmanned aerial vehicles participating in the task, and task binding is performed according to the deployment condition of the unmanned aerial vehicle bee colony and the target position designated by the task, and the method further comprises the steps of,
Issuing identification based on the load configuration, the MAC address and the data chain identification of the unmanned aerial vehicle;
The bound task parameters include task type investigation or delivery, staging points and target areas.
Further, each unmanned aerial vehicle performs communication inquiry on the neighbor nodes at the communication action distance and collects handshake information to finish the initial selection of the regional initial seed nodes based on regional networking, and the method further comprises the steps of,
The unmanned aerial vehicle node i sends a networking request to a cluster within a communication action distance, wherein the networking request comprises node i identity information and an electronic signature, and is thatWherein/>For identity information, including a transmit timestamp/>Expiration date/>Validity period/>For the failure time of the current message,/>Then it is an electronic signature;
The neighbor node m receives a networking request forwarded by the unmanned aerial vehicle node By sending a timestamp/>And expiration date/>Judging the validity of the networking request, and according to the received valid networking request/>And/>Selecting short-distance information for response, and sending response handshake information/>Wherein/>Information of election node in short distance of m point,/>Is identity information.
Further, the step of performing the regional initial main node election and intra-cluster networking of the entire unmanned aerial vehicle bee colony further comprises,
After initial primary node primary selection of the area is completed, each unmanned aerial vehicle node m in the bee colony is provided with a networking node k (m), and 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 area;
the temporary networking node sequence { k } obtained by initial selection, if the number of the obtained handshake information is more than 8, the temporary networking node sequence { k } sends formal networking requests to the unmanned aerial vehicle swarm nodes within the communication working distance of the temporary networking node sequence { k }, respectively Wherein C (k) is identity information, S (k) is an electronic signature,/>Handshake information obtained for the initial selection stage;
When node m receives a formal networking request containing self-handshake information V (m) Judging whether the node m participates in primary selection, if yes, replying a message of refusing to build the network to the request node k, otherwise replying a message of allowing to build the network to the request node k;
after receiving a networking request responded by the node m, the node k generates a confirmation message of the response message sent by the node m and returns the confirmation message to the node m, and simultaneously broadcasts the confirmation message to other nodes in the unmanned aerial vehicle bee colony;
the confirmation message contains the formal networking request information and the identity information of both sides, and the number of the handshake information is correspondingly increased or decreased according to the number of the handshake information.
Further, the step of performing the decentralization of the unmanned aerial vehicle bee colony network by taking the unmanned aerial vehicles of the clustered regional main nodes as the respective cluster heads according to the principle of the trust right certification further comprises,
After the network establishment and confirmation in the cluster are completed by the main nodes in each area, the request of networking among the clusters is broadcasted to the whole unmanned aerial vehicle bee colonyWherein a is a regional master node, C (a) is identity information, S (a) is an electronic signature,/>For its location and velocity information,/>The information approved by the master node b in other areas which are acquired for the networking request comprises signature information and position speed information of the approved node b;
Forwarding the inter-cluster networking request of the local cluster and the inter-cluster networking request of the regional master node in other clusters by the non-master node in each cluster, forwarding the inter-cluster networking request sent by the master node of the local cluster to the other clusters, and forwarding the inter-cluster networking request of the regional master node in the other clusters to the local cluster;
in the first communication period, if the regional master node receives networking requests from other master nodes, selecting the request with the largest number of the regional master nodes which are received first and obtain the signature for response;
In the second communication period, the main nodes of all areas respond and forward the inter-cluster networking request with the most signature according to the principle in the first communication period until the inter-cluster networking request is agreed, and then the time synchronization of the whole bee colony is completed;
and each node adopts a directional data link to search for a target node near the predicted position according to the position of each node in the networking information, and the communication maintenance of the directional data link is maintained after the response of the node is obtained.
Further, the method also comprises the steps of carrying out intra-cluster networking maintenance,
When a new node unmanned aerial vehicle is added or a fault node unmanned aerial vehicle exits in the cluster, a network access request or an exit statement is sent to an unmanned aerial vehicle area main node in the cluster, and if the area main node fails, the area main node is replaced according to an election mechanism;
For node application of new network access, checking and approving the identity information of the regional master node in the cluster, and initiating broadcasting to the cluster, and forwarding the node in the cluster;
and for the exit declaration containing the self node, checking whether the information source of the declaration accords with the identity information and broadcasting the information into the cluster.
Further, when the regional master node exits or other nodes in the cluster find that the master node fails, the other cluster nodes elect a new regional master node in the cluster.
Still further, it also includes,
Each node in the cluster omnidirectionally broadcasts own election request to the cluster;
each node in the cluster forwards the election request of other nodes in the cluster, and the forwarding is not carried out after the election request is forwarded;
each node in the cluster replies the received election request, performs election confirmation according to the communication time-consuming minimum priority principle in one communication period, returns a confirmation message to the selected node and broadcasts the whole network;
After the cluster receives the voting reply message of each node, recording the number of votes, confirming the selected regional master node of the new round according to the principle that more than half of the total number in the cluster, and broadcasting the confirmation message to the whole cluster;
If the number of the election nodes in the first round is not more than half of the number of votes, voting the election nodes again according to the principle of priority of the number of votes, and broadcasting the voting confirmation message to the whole cluster;
and the nodes of the whole cluster perform ticket number calculation on the received message, confirm the selected area master node of the new round according to the principle that more than half of the total number in the cluster, and broadcast the confirmation message to the whole cluster.
In order to achieve the above object, the present invention further provides an electronic device, including 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 bee colony clustering ad hoc network method based on the trust right 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 that when executed perform the steps of the unmanned aerial vehicle swarm clustering ad hoc network method based on trust attestation described above.
The unmanned aerial vehicle bee colony clustering ad hoc network method and system based on the trust rights and interests proving have the following beneficial effects:
Compared with a master-slave unmanned aerial vehicle bee colony system, the system has good system robustness; compared with a completely decentralised unmanned aerial vehicle swarm system, the system maintenance cost is low, and particularly, the functional separation of inter-cluster networking and intra-cluster networking is realized, so that 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 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 the invention and together with the embodiments of the invention, and do not limit the invention. In the drawings:
fig. 1 is a flow chart of a method for unmanned aerial vehicle swarm clustering ad hoc networking based on delegate benefit certification according to an embodiment of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
Example 1
Fig. 1 is a flowchart of a method for clustering an unmanned aerial vehicle cluster to self-network based on trust attestation according to the present invention, and the method for clustering an unmanned aerial vehicle cluster to self-network based on trust attestation according to the present invention will be described in detail with reference to fig. 1.
In step 101, in the task binding stage before take-off, identity authentication is performed on unmanned aerial vehicles participating in the task, and task binding is performed according to the deployment situation of the unmanned aerial vehicle bee colony and the target position designated by the task.
Preferably, the issuing identification is based on the payload configuration, MAC address, data chain identification of the unmanned aerial vehicle.
Preferably, the binding task parameters include: task type (investigation or delivery), staging point location, target area.
In step 102, each unmanned aerial vehicle performs communication inquiry on neighbor nodes at a communication action distance of the unmanned aerial vehicle and collects handshake information by means of an omnidirectional scanning function of an onboard data link device, and initial selection of area initial seed nodes based on area networking is completed.
Preferably, after the unmanned aerial vehicle bee colony flies to the area near the aggregation point, fixed-speed direct voyage or hovering state is carried out to keep the distance stable, and the first step of the ad hoc network, namely 'initial primary node primary selection' is started.
Preferably, the nodes fly to the area near the aggregation point position, and each node triggers an initial primary node primary selection action of the area according to preset conditions. The unmanned aerial vehicle node i sends a networking request to a cluster within a communication action distance, wherein the networking request comprises node i identity information and an electronic signature in the form ofWherein/>For identity information, including a transmit timestamp/>Expiration date/>Validity period/>For the failure time of the current message,/>Then it is an electronic signature.
Preferably, the neighbor node m receives the networking request sent by the unmanned aerial vehicle node i or forwarded by other nodesFirst by sending a timestamp/>And expiration date/>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, invalidating the information, otherwise, validating the information; for the effective networking request/>, which is received simultaneously、/>Selecting information close to the information to respond, and sending response handshake information/>, to the informationWherein/>Information of election nodes closer to m points per se,/>Is identity information of the user.
Preferably, if node m responds to the networking request of node i, then it is simultaneously networkingBroadcasting to the neighbor nodes within the communication action distance, and not responding to the networking requests of other nodes, and also not sending the networking requests initiated by the neighbor nodes. Node m does not respond to networking requests forwarded over two hops/>。
In step 103, an area initial main node election and intra-cluster networking of the entire unmanned aerial vehicle swarm is performed.
Preferably, after initial primary node primary selection of the area is completed, each unmanned aerial vehicle node m in the bee colony can find a networking node k (m); the entire unmanned aerial vehicle bee colony generates a plurality of temporary networking node sequences { k } which are respectively used as the sub-centers of the areas. In the step, the temporary networking node group obtained by the primary selection is adjusted according to the distance of the communication distance through the information interaction among the temporary networking nodes, and the intra-cluster networking of the whole unmanned aerial vehicle bee colony is developed, so that the whole unmanned aerial vehicle bee colony is divided into a plurality of clusters.
Preferably, the temporary networking node sequence { k } obtained by the initial selection is used for respectively sending the formal networking request to the unmanned aircraft bee colony nodes within the communication working distance if the number of the obtained handshake information is more than 8Wherein/>As above,/>Referring to the handshake information obtained in the initial selection phase, the number V (m) is at most 16, and the reservation principle is the 16 handshake nodes that receive the fastest.
Preferably, node m receives a request for formally networking containing self-handshake information V (m)If the node m participates in the primary selection, a message response for refusing to build the network is sent to the request node k; otherwise, sending a message response allowing networking to the request node k.
Preferably, after receiving the response of the node m to the own formal network building request, the node k generates a confirmation message of the response message sent by the node m and returns the confirmation message to the node m, and simultaneously broadcasts the confirmation message to other nodes in the unmanned aerial vehicle bee colony, wherein the confirmation message contains the formal network building request information and the identity information of both sides, and the number of handshake messages is correspondingly increased or decreased until the number of handshake messages is 16.
Preferably, if the node m does not receive a request containing the handshake information V (m) in the receiving period, the receiving period refers to a Time interval, the value of which is equal to the Time length of adding one relay to two communication acting distances, if the receiving period exceeds the Time length of adding one relay to forward, the node m does not respond to the formal networking request, if the number of handshake information is less than 16, the node m responds to the formal networking request, if the node m receives two or more formal networking request information, the node m responds selectively according to the following indexes, and the score index of the formal networking request is-10 x time_cs+nv, wherein time_cs is the communication transmission Time of the formal networking request transmitted to the local; nv is the effective handshake quantity contained in the formal networking request, i.e. the effective handshake quantity is selected according to the communication transmission hop count and the handshake quantity again preferentially; after the node m selects the formal networking request to respond, the node m forwards the response information to the node initiating the formal networking request and the neighbor node of the node m.
Preferably, if the node m has not received the confirmation message, it actively initiates an election as a regional master node, and sends a supplementary networking request to the nodes within the working distanceAt this time, other nodes are responsible for forwarding the request at the same time; the nodes which are not confirmed by the network establishment can respond to the supplementary network establishment request without being limited by the forwarding hop count, and the node m sends a confirmation message to the nodes which respond to the supplementary network establishment request within a specified time.
In step 104, after the whole unmanned aerial vehicle bee colony is clustered, the unmanned aerial vehicle is used as the head of each cluster by the area master node of each cluster, and the decentralized unmanned aerial vehicle bee colony is performed according to the principle of trust benefit certification.
Preferably, after the network establishment and confirmation in the cluster are completed, the main node of each area immediately broadcasts an inter-cluster networking request to the whole unmanned aerial vehicle bee colonyWhere a refers to the region master node,/>As above,/>Refer to its location and velocity information,/>And the information which refers to the approval of the other area master node b obtained by the networking request comprises signature information and position speed information of the approval node b.
Preferably, the non-master node in each cluster participates in forwarding the inter-cluster networking request of the local cluster and the master nodes in other clusters, and forwards the inter-cluster networking request sent by the master node of the local cluster to the other clusters, and forwards the inter-cluster networking request of the master nodes in other clusters to the local cluster.
Preferably, in the first communication period, if the regional master node c has not yet sent an inter-cluster networking request, i.e. receives networking requests from other master nodes, the most number of regional master nodes that receive and obtain the signature first is selected to respond to the request, and the response specific operation is to add its own signature to the networking request to obtain informationAnd transmits the broadcast to the whole network.
Preferably, in the second communication period, the main nodes of each area respond and forward the inter-cluster networking request with the most signature according to the principle, and the inter-cluster networking request reaches the third communication period at most, after the agreement is reached, the system time of the main nodes is kept consistent with the networking node a, so that the time synchronization of the whole bee colony is completed.
Preferably, each node uses a directional data link to search for a target node near the predicted position according to each node position in the networking information, and communication maintenance of the directional data link is maintained after the node responds.
In step 105, intra-cluster networking maintenance is performed.
Preferably, when a new node unmanned aerial vehicle is added or a faulty node unmanned aerial vehicle exits in the cluster, network access requests and exit statements are sent to the unmanned aerial vehicle regional master nodes in the cluster, and if the regional master nodes are faulty, the regional master nodes are replaced according to an election mechanism.
Preferably, for the node application of the new network access, the regional master node in the cluster checks and approves the identity information of the node application, and initiates broadcasting to the cluster, and the node in the cluster forwards in the cluster.
Preferably, for an exit declaration that contains a self-node, the information source of the declaration is checked for compliance with the identity information and then broadcast into the cluster.
In step 106, clustered region master election is performed.
Preferably, when the regional master node exits or other nodes in the cluster find that the master node fails, the other cluster nodes perform a new round of voting to elect a new regional master node in the cluster.
Preferably, the step of "performing cluster area master node election" may be specifically performed as:
(1) Each node in the cluster omnidirectionally broadcasts own election request to the cluster;
(2) Each node in the cluster is responsible for forwarding election requests of other nodes in the cluster to each other, and forwarding is not performed after forwarding;
(3) Each node in the cluster replies the received election request, performs election confirmation according to the communication time-consuming minimum priority principle in one communication period, returns a confirmation message to the selected node and broadcasts the whole network; if other nodes are elected, the node does not broadcast own election request;
(4) After the cluster receives the voting reply message of each node, recording the number of votes, confirming the selected regional master node of the new round according to the principle that more than half of the total number in the cluster, and broadcasting the confirmation message to the whole cluster;
(5) If the number of votes of the election nodes in the first round is not more than half of the number of votes, then carrying out a round of voting again according to the principle of prioritized vote obtaining for the election nodes in the first round, and broadcasting a new round of voting confirmation message to the whole cluster;
(6) And the nodes of the whole cluster perform ticket number calculation on the received message, confirm the selected area master node of the new round according to the principle that more than half of the total number in the cluster, and broadcast the confirmation message to the whole cluster.
In step 107, based on the trust token, a consistency decision and execution control of the swarm behavior is performed according to the decentralization principle.
Preferably, after the whole intra-cluster networking and inter-cluster networking are completed, the behavior mode of the whole unmanned aerial vehicle bee colony is completely taken as a benefit commissioner by the regional master node of each cluster, the consistency decision and execution control of the bee colony behavior are carried out according to the decentralization principle, and the bee colony in the cluster follows the behavior mode of the regional master node in a temporary master-slave mode, so that the consistency of the behavior of the whole bee colony system is realized.
The invention provides an unmanned aerial vehicle swarm clustering ad hoc network method based on trust attestation, which aims to solve the problems of poor robustness of a master-slave unmanned aerial vehicle swarm system and weak consistency realization of a completely decentralised unmanned aerial vehicle swarm system, creatively uses trust attestation mechanisms in a blockchain technology to construct a framework of decentralised networking among clusters, and combines the master-slave structure and a consensus method based on voting to realize semi-decentralization of the intra-cluster networking, thereby realizing self-organization behavior of a large-scale swarm system. The intra-cluster networking adopts a temporary master-slave structure to carry out system maintenance, and a competition mechanism based on voting is used for realizing the rotation of the master nodes in the intra-cluster area; the consistency of the overall behavior is realized among the clusters based on voting among the main nodes of the clustered areas. The method solves the defects that the master-slave type bee colony system with the center is insufficient in robustness and easy to collapse, and the consistency behavior process of the center-free bee colony network is long in time consumption and 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 bee colony clustering ad hoc network method based on the delegated rights and the proving when running the program.
The invention also provides a computer readable storage medium, wherein computer instructions are stored on the computer readable storage medium, the computer instructions execute the steps of the unmanned aerial vehicle bee colony clustering ad hoc network method based on the trust evidence when running, and the unmanned aerial vehicle bee colony clustering ad hoc network method based on the trust evidence is referred to the description of the previous part and is not repeated.
Those of ordinary skill in the art will appreciate that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The unmanned aerial vehicle bee colony clustering ad hoc network method based on the trust right certification is characterized by comprising the following steps of:
In the task binding stage before take-off, identity authentication is carried out on unmanned aerial vehicles participating in the task, and task binding is carried out according to the deployment condition of the unmanned aerial vehicle bee colony and the target position designated by the task;
Each unmanned aerial vehicle performs communication inquiry on neighbor nodes at the communication action distance of the unmanned aerial vehicle and collects handshake information to finish initial selection of area initial seed nodes based on area networking;
performing regional initial main node election and intra-cluster networking of the entire unmanned aerial vehicle bee colony;
taking the unmanned aerial vehicles of the regional main nodes of each cluster as respective cluster heads, and carrying out decentralization on the unmanned aerial vehicle bee group network according to the principle of proving the entrusted rights;
the step of performing decentralization on the unmanned aerial vehicle bee colony network by taking the unmanned aerial vehicle of each clustered regional main node as each cluster head according to the principle of trust evidence comprises the steps of broadcasting an inter-cluster networking request to the whole unmanned aerial vehicle bee colony after the network establishment and confirmation in each regional main node is completed Wherein a is a regional master node, C (a) is identity information, S (a) is an electronic signature,/>For its location and velocity information,The information approved by the master node b in other areas which are acquired for the networking request comprises signature information and position speed information of the approved node b; forwarding the inter-cluster networking request of the local cluster and the inter-cluster networking request of the regional master node in other clusters by the non-master node in each cluster, forwarding the inter-cluster networking request sent by the master node of the local cluster to the other clusters, and forwarding the inter-cluster networking request of the regional master node in the other clusters to the local cluster; in the first communication period, if the regional master node receives networking requests from other master nodes, selecting the request with the largest number of the regional master nodes which are received first and obtain the signature for response; in the second communication period, the main nodes of all areas respond and forward the inter-cluster networking request with the most signature according to the principle in the first communication period until the inter-cluster networking request is agreed, and then the time synchronization of the whole bee colony is completed; each node is responsible for searching a target node near a predicted position by adopting a directional data link according to the position of each node in networking information, and communication maintenance of the directional data link is maintained after the response of the node is obtained;
When the regional master node exits or other nodes in the cluster find that the master node fails, selecting a new regional master node in the cluster by other cluster nodes; each node in the cluster omnidirectionally broadcasts own election request to the cluster; each node in the cluster forwards the election request of other nodes in the cluster, and the forwarding is not carried out after the election request is forwarded; each node in the cluster replies the received election request, performs election confirmation according to the communication time-consuming minimum priority principle in one communication period, returns a confirmation message to the selected node and broadcasts the whole network; after the cluster receives the voting reply message of each node, recording the number of votes, confirming the selected regional master node of the new round according to the principle that more than half of the total number in the cluster, and broadcasting the confirmation message to the whole cluster; if the number of the election nodes in the first round is not more than half of the number of votes, voting the election nodes again according to the principle of priority of the number of votes, and broadcasting the voting confirmation message to the whole cluster; the nodes of the whole cluster calculate the ticket number of the received message, and confirm the selected area master node of the new round according to the principle that more than half of the total number in the cluster, and broadcast the confirmation message to the whole cluster;
Based on trust rights and benefits, consistency decision and execution control of the swarm behaviors are carried out according to a decentralization principle, and the method comprises the steps that after networking in the whole cluster and networking among the clusters are completed, the behavior mode of the swarm of the whole unmanned aerial vehicle is completely taken as a rights and benefits principal by a regional master node of each cluster, the consistency decision and execution control of the swarm behaviors are carried out according to the decentralization principle, and the swarm in the cluster follows the behavior mode of the regional master node in a temporary master-slave mode, so that the consistency of the behavior of the whole swarm system is realized.
2. The method for clustering and self-networking unmanned aerial vehicle based on trust attestation according to claim 1, wherein the step of performing task binding according to the deployment condition of unmanned aerial vehicle bee colony and the target position designated by the task by performing identity authentication on unmanned aerial vehicles participating in the task at the task binding stage before take-off further comprises,
Issuing identification based on the load configuration, the MAC address and the data chain identification of the unmanned aerial vehicle;
The bound task parameters include task type investigation or delivery, staging points and target areas.
3. The method for clustered ad hoc networking of unmanned aerial vehicle based on trust authority according to claim 1, wherein each unmanned aerial vehicle performs communication inquiry on the neighbor nodes at the communication action distance of itself and collects handshake information, and completes the initial selection of the initial seed nodes of the area based on the area networking, and further comprises,
The unmanned aerial vehicle node i sends a networking request to a cluster within a communication action distance, wherein the networking request comprises node i identity information and an electronic signature, and is thatWherein/>For identity information, including a transmit timestamp/>Expiration date/>Validity period/>For the failure time of the current message,/>Then it is an electronic signature;
The neighbor node m receives a networking request forwarded by the unmanned aerial vehicle node By sending a timestamp/>And expiration date/>Judging the validity of the networking request, and according to the received valid networking request/>And/>Selecting short-distance information for response, and sending response handshake information/>Wherein/>Information of election node in short distance of m point,/>Is identity information.
4. The method for clustered ad hoc networking of unmanned aerial vehicle clusters based on trust evidence according to claim 1, wherein the step of performing an area initial main node election and intra-cluster networking of the entire unmanned aerial vehicle cluster further comprises,
After initial primary node primary selection of the area is completed, each unmanned aerial vehicle node m in the bee colony is provided with a networking node k (m), and 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 area;
the temporary networking node sequence { k } obtained by initial selection, if the number of the obtained handshake information is more than 8, the temporary networking node sequence { k } sends formal networking requests to the unmanned aerial vehicle swarm nodes within the communication working distance of the temporary networking node sequence { k }, respectively Wherein C (k) is identity information, S (k) is an electronic signature,/>Handshake information obtained for the initial selection stage;
When node m receives a formal networking request containing self-handshake information V (m) Judging whether the node m participates in primary selection, if yes, replying a message of refusing to build the network to the request node k, otherwise replying a message of allowing to build the network to the request node k;
after receiving a networking request responded by the node m, the node k generates a confirmation message of the response message sent by the node m and returns the confirmation message to the node m, and simultaneously broadcasts the confirmation message to other nodes in the unmanned aerial vehicle bee colony;
the confirmation message contains the formal networking request information and the identity information of both sides, and the number of the handshake information is correspondingly increased or decreased according to the number of the handshake information.
5. The unmanned aerial vehicle swarm clustering ad hoc network method based on the trust authority of claim 1, further comprising performing intra-cluster networking maintenance,
When a new node unmanned aerial vehicle is added or a fault node unmanned aerial vehicle exits in the cluster, a network access request or an exit statement is sent to an unmanned aerial vehicle area main node in the cluster, and if the area main node fails, the area main node is replaced according to an election mechanism;
For node application of new network access, checking and approving the identity information of the regional master node in the cluster, and initiating broadcasting to the cluster, and forwarding the node in the cluster;
and for the exit declaration containing the self node, checking whether the information source of the declaration accords with the identity information and broadcasting the information into the cluster.
6. An electronic device comprising a memory and a processor, the memory having stored thereon a program running on the processor, the processor executing the steps of the unmanned aerial vehicle swarm clustering ad hoc network method based on delegate authority credentials of any of claims 1-5.
7. A computer readable storage medium having stored thereon computer instructions which, when run, perform the steps of the unmanned aerial vehicle swarm clustering ad hoc network method based on delegate benefit credentials of any of claims 1-5.
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