CN117479347A - Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network - Google Patents

Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network Download PDF

Info

Publication number
CN117479347A
CN117479347A CN202311474481.5A CN202311474481A CN117479347A CN 117479347 A CN117479347 A CN 117479347A CN 202311474481 A CN202311474481 A CN 202311474481A CN 117479347 A CN117479347 A CN 117479347A
Authority
CN
China
Prior art keywords
unmanned aerial
aerial vehicle
ground station
service
ciphertext
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311474481.5A
Other languages
Chinese (zh)
Inventor
高可
范军芳
马武举
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Information Science and Technology University
Original Assignee
Beijing Information Science and Technology University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Information Science and Technology University filed Critical Beijing Information Science and Technology University
Priority to CN202311474481.5A priority Critical patent/CN117479347A/en
Publication of CN117479347A publication Critical patent/CN117479347A/en
Pending legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
    • H04L9/08—Key distribution or management, e.g. generation, sharing or updating, of cryptographic keys or passwords
    • H04L9/0816—Key establishment, i.e. cryptographic processes or cryptographic protocols whereby a shared secret becomes available to two or more parties, for subsequent use
    • H04L9/0852—Quantum cryptography
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/03—Protecting confidentiality, e.g. by encryption
    • H04W12/033—Protecting confidentiality, e.g. by encryption of the user plane, e.g. user's traffic
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
    • H04W4/08—User group management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W84/00—Network topologies
    • H04W84/02—Hierarchically pre-organised networks, e.g. paging networks, cellular networks, WLAN [Wireless Local Area Network] or WLL [Wireless Local Loop]
    • H04W84/04—Large scale networks; Deep hierarchical networks
    • H04W84/06—Airborne or Satellite Networks
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • Astronomy & Astrophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention relates to a method for realizing unmanned aerial vehicle trunking communication by utilizing a mobile self-organizing network, wherein a quantum random number is used for encrypting communication data so as to improve the safety of communication. If there is a drone with a flag position set in the adjoining drones of the service drone, the proximity of the predicted position should be considered first. This may be determined by comparing longitude, latitude and movement trend information of the neighboring unmanned aerial vehicle. In particular, the distance between the drone with each flag position set and the current position of the service drone or the distance between the predicted positions may be calculated. The drone with the flag position set closer to the service drone is chosen, as this will reduce the latency and energy consumption of the data transmission. In the case of multi-hop transmission, the hop count indicates how many intermediate nodes the data passes between the slave drone to the drone with the flag position set.

Description

Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle communication, and particularly relates to a method for realizing unmanned aerial vehicle trunking communication by using a mobile self-organizing network.
Background
With the rapid development of unmanned aerial vehicle applications, two sets of communication systems have been arranged for unmanned aerial vehicles, one set being a communication system with a ground station and one set being an ad hoc communication system between unmanned aerial vehicles. Especially in complex application scenarios such as military, rescue, surveillance, etc.
Currently in the unmanned field, two sets of communication systems, although they exist, are typically deployed in a separate usage. This is mainly because of the complexity involved in the technology and management of the two systems, which need to address some challenges, including:
communication link selection: determining when to use which set of communication systems to meet different communication needs may require intelligent decision making and management.
Safety: the integrated use of two systems may introduce security risks because an attacker may attempt to hack one of the systems to gain access to the other system.
While the integrated use of two sets of communication systems may have potential benefits, implementation of this approach requires resolution of these technical and administrative challenges.
Disclosure of Invention
The invention aims to provide a method for realizing unmanned aerial vehicle trunking communication by utilizing a mobile self-organizing network, which can comprehensively utilize two sets of communication systems, can reasonably and efficiently select a communication link and can ensure the communication safety.
The invention provides a method for realizing unmanned aerial vehicle trunking communication by utilizing a mobile self-organizing network, which is applied to an unmanned aerial vehicle trunking system and comprises a ground station and a plurality of unmanned aerial vehicles, wherein a first communication protocol is established between the ground station and the unmanned aerial vehicles; establishing a second communication between the unmanned aerial vehicle and the unmanned aerial vehicle in a second communication protocol; the first communication is prioritized over the second communication, the second communication protocol being an ad hoc communication protocol; the method specifically comprises the following steps: step 1), before unmanned aerial vehicles start to execute tasks, a ground station generates quantum random numbers, different quantum random numbers are distributed to each unmanned aerial vehicle, and the corresponding relation between the unmanned aerial vehicle ID and the distributed quantum random numbers is stored in the ground station; step 2) after the unmanned aerial vehicles start, each unmanned aerial vehicle keeps connection with the ground station through a first heartbeat message in a first period through a first communication protocol, and each unmanned aerial vehicle is provided with a flag bit P whether the first heartbeat message is normal or not; step 3), each unmanned aerial vehicle keeps connection with all adjacent unmanned aerial vehicles through a second communication protocol in a second period through a second heartbeat message; the second heartbeat message includes the following contents: longitude x, latitude y, motion trend x 'in longitude direction, motion trend y' in latitude direction, unmanned plane ID, flag bit P of unmanned plane; step 4) when a certain unmanned aerial vehicle needs to carry out service communication with a ground station, the unmanned aerial vehicle is called as a service unmanned aerial vehicle, a zone bit P of the service unmanned aerial vehicle is inquired, and if the zone bit indicates that a first heartbeat message is normal, the step 5 is executed; otherwise, executing the step 6; step 5) after the service data is encrypted by taking the quantum random number of the service unmanned aerial vehicle as a secret key, a first communication link is established with the ground station through a first communication protocol, and then the service data is sent to the ground station; step 6), the service unmanned aerial vehicle inquires a flag bit P in the heartbeat message of the adjacent unmanned aerial vehicle which is connected with the heartbeat message, and if the unmanned aerial vehicle with the flag bit P is set, the step 7 is executed; otherwise, executing the step 8; step 7) setting the unmanned aerial vehicle with the flag position P as a candidate transfer unmanned aerial vehicle, and according to the distance between the adjacent unmanned aerial vehicle and the service unmanned aerial vehicle, obtaining the unmanned aerial vehicle with the nearest predicted distance as the transfer unmanned aerial vehicle, and carrying out data transfer by the transfer unmanned aerial vehicle to complete the communication between the service unmanned aerial vehicle and the ground station; step 8) obtaining the shortest paths of the service unmanned aerial vehicle and the unmanned aerial vehicle set by the marker bit through a breadth-first algorithm, setting the unmanned aerial vehicle set by the marker bit as a transfer unmanned aerial vehicle, and sending the shortest paths to the service unmanned aerial vehicle; step 9), the service unmanned aerial vehicle encrypts a transmission data plaintext by using the quantum random number of the service unmanned aerial vehicle to generate a first ciphertext, the first ciphertext and the identification of the service unmanned aerial vehicle are directly or through a shortest path sent to the switching unmanned aerial vehicle, the switching unmanned aerial vehicle encrypts the first ciphertext and the ID of the service unmanned aerial vehicle by using the quantum random number of the service unmanned aerial vehicle to generate a second ciphertext, and the switching unmanned aerial vehicle transmits the second ciphertext to a ground station through a first communication protocol; step 10) after receiving the second ciphertext, the ground station decrypts the quantum random number corresponding to the transfer unmanned aerial vehicle to obtain a first ciphertext and an ID of the service unmanned aerial vehicle, obtains the quantum random number of the corresponding service unmanned aerial vehicle according to the ID of the service unmanned aerial vehicle, decrypts the first ciphertext, and then obtains a transmission data plaintext.
Preferably, the step 1 specifically comprises: step 1.1, generating a real quantum random number: the generation of quantum random numbers is typically accomplished using quantum mechanical properties, such as the quantum states of photons; step 1.2, different quantum random numbers are distributed for each unmanned aerial vehicle: generating a set of different quantum random numbers, wherein each random number is associated with a particular drone; step 1.3, establishing a corresponding relation between the unmanned aerial vehicle ID and the quantum random number: in the ground station database or key management system, a table or record is established, and the unique ID of the unmanned aerial vehicle is associated with the assigned quantum random number.
Preferably, the step 2 specifically comprises: step 2.1 determining a first period: the length of time of each cycle is defined to determine the frequency of the heartbeat message. Each drone needs to maintain a connection with the ground station in a first period; step 2.2, initializing a flag bit P: before each unmanned plane starts to execute tasks, initializing a zone bit P, setting the zone bit P to 0, and indicating that connection with a ground station is not established; step 2.3, establishing connection with the ground station: each unmanned aerial vehicle establishes connection with a ground station according to the specification of a first communication protocol; step 2.4, sending a heartbeat message: in each first period, the unmanned opportunity periodically sends a first heartbeat message to the ground station; step 2.5 the ground station receives the heartbeat message: the ground station receives the first heartbeat message from each unmanned aerial vehicle and verifies the integrity of the message and the identity of the sender; step 2.6, response heartbeat message: the ground station responds to the received heartbeat message; step 2.7, unmanned aerial vehicle receives the response: each unmanned aerial vehicle receives a response message from the ground station, if the unmanned aerial vehicle successfully receives a response, the connection between the unmanned aerial vehicle and the ground station is normal, and the flag bit P is set to be 1; step 2.8, connection maintenance: after receiving the response, the unmanned aerial vehicle considers that connection exists between the unmanned aerial vehicle and the ground station, and the flag bit P is set. If the unmanned aerial vehicle does not receive the response or receives the incomplete/wrong response within the specified time, the flag bit P is not set, the connection is abnormal or interrupted, and the process is repeated, so that each unmanned aerial vehicle can send heartbeat messages regularly and maintain the connection state with the ground station.
Preferably, the step 5 specifically comprises: step 5.1, selecting an encryption algorithm: a suitable encryption algorithm is selected. For encryption of a quantum random number as a key, a symmetric key encryption algorithm such as AES (advanced encryption standard) is generally used; step 5.2, obtaining service data: preparing traffic data to be transmitted, which may be any information or message that is intended to be shared with the ground station; step 5.3, encrypting the service data: encrypting the service data by using the quantum random number as a key according to the selected encryption algorithm to form ciphertext data; step 5.4, transmitting encrypted data: transmitting the encrypted service data to a ground station; step 5.5 ground station receives and decrypts data: the ground station receives the encrypted data from the service unmanned aerial vehicle and generates a corresponding secret key by using the quantum random number associated with the unmanned aerial vehicle in the stored association table.
Preferably, the specific calculation method in the step 7 is as follows: assuming two unmanned aerial vehicles a and B, whose initial positions are (x_a, y_a) and (x_b, y_b), respectively, and whose speeds are (x '_a, y' _a) and (x '_b, y' _b), respectively, it is desirable to predict their positions after time t;
predicting the position of the unmanned aerial vehicle A:
the longitude position x_a_t of the drone a after time t may be calculated using the following formula: x_a_t=x_a+x' _a×t.
Likewise, the latitude position y_a_t of the unmanned aerial vehicle a after the time t can be calculated using the following formula: y_a_t=y_a+y' _a×t;
predicting the position of unmanned aerial vehicle B:
the longitude position x_b_t of the drone B after time t can be calculated using the following formula: x_b_t=x_b+x' _b.
Likewise, the latitude position y_b_t of the drone B after the time t may be calculated using the following formula: y_b_t=y_b+y' _b;
calculating the distance between the unmanned aerial vehicle A and the unmanned aerial vehicle B:
and calculating the great circle distance between the unmanned aerial vehicle A and the unmanned aerial vehicle B by using a Haverine formula. This requires the use of the coordinates of the latitude (y_a_t and y_b_t) and longitude (x_a_t and x_b_t) of drone a and drone B;
one representation of the haverine formula is as follows:
a＝sin2(Δφ/2)+cos(φ1)*cos(φ2)*sin2(Δλ/2)；
c＝2*atan2(sqrt(a),sqrt(1-a))；
d＝R*c；
where d is the great circle distance, Δφ is the difference between two points of latitude, Δλ is the difference between two points of longitude, and R is the radius of the earth;
the calculated distance d is expressed in appropriate units to obtain the distance between unmanned aerial vehicle a and unmanned aerial vehicle B.
Preferably, step 9 specifically comprises: step 9.1, the service unmanned aerial vehicle generates a first ciphertext: the service unmanned aerial vehicle uses the quantum random number of the service unmanned aerial vehicle as a key to encrypt a data plaintext to be transmitted; step 9.2, transmitting a first ciphertext and an identifier to the transfer unmanned aerial vehicle: the service unmanned aerial vehicle sends the generated first ciphertext and an Identification (ID) of the service unmanned aerial vehicle to the selected transfer unmanned aerial vehicle; step 9.3, the transfer unmanned aerial vehicle receives the first ciphertext and the identification: the switching unmanned aerial vehicle receives a first ciphertext and an identifier from the service unmanned aerial vehicle; step 9.4, the transfer unmanned aerial vehicle generates a second ciphertext: the transfer unmanned aerial vehicle uses the quantum random number of the transfer unmanned aerial vehicle as a secret key, and encrypts the first ciphertext and the service unmanned aerial vehicle ID to generate a second ciphertext; step 9.5, transmitting the second ciphertext to the ground station: the transfer unmanned aerial vehicle transmits the generated second ciphertext to the ground station through the first communication protocol.
Preferably, the step 10 specifically comprises: step 10.1, the ground station receives a second ciphertext: the ground station receives a second ciphertext from the transit drone, typically transmitted over the first communication protocol; step 10.2, obtaining and decrypting quantum random numbers corresponding to the transfer unmanned aerial vehicle: the ground station uses the quantum random number corresponding to the transit drone (assigned to each drone and associated with its ID in step 1) as the corresponding key; step 10.3 decryption of the second ciphertext: the ground station decrypts the second ciphertext by using the generated secret key, and restores the second ciphertext to the original first ciphertext and the ID of the service unmanned aerial vehicle; step 10.4, ID extraction of service unmanned aerial vehicle: the ground station extracts the ID of the service unmanned aerial vehicle from the decrypted data; step 10.5, obtaining quantum random numbers of the service unmanned aerial vehicle: the ground station uses the ID of the service unmanned aerial vehicle to inquire an association table stored in the ground station so as to acquire a quantum random number associated with the service unmanned aerial vehicle; step 10.6, the quantum random number of the service unmanned aerial vehicle is used for decryption: the ground station uses the quantum random number of the service unmanned aerial vehicle as a secret key to decrypt the first ciphertext. This will restore the transmission data plaintext; step 10.7 data processing: the ground station may process the decrypted data, perform a corresponding operation, or communicate the data to an associated department or application to meet the communication needs.
The invention is characterized in that:
use of quantum random numbers: this invention emphasizes the use of a quantum random number to encrypt the communication data to improve the security of the communication. Quantum random numbers generally have higher randomness and security, making data more difficult to crack.
Two communication protocols: the invention relates to two different communication protocols, a first communication protocol for establishing a connection with a ground station and transmitting traffic data, and a second communication protocol for ad hoc communication between unmanned aerial vehicles. This combination of dual communication protocols may provide more communication options.
Proximity of predicted position: if there is a drone with a flag position set in the adjoining drones of the service drone, the proximity of the predicted position should be considered first. This may be determined by comparing longitude, latitude and movement trend information of the neighboring unmanned aerial vehicle. In particular, the distance between the drone with each flag position set and the current position of the service drone or the distance between the predicted positions may be calculated. The drone with the flag position set closer to the service drone is chosen, as this will reduce the latency and energy consumption of the data transmission.
Number of hops: in the case of multi-hop transmission, the hop count indicates how many intermediate nodes the data passes between the slave drone to the drone with the flag position set. Typically, selecting a path with a smaller number of hops will reduce the complexity and latency of data transmission, as the data does not need to pass through too many intermediate nodes.
The invention has the technical effects and advantages that:
safety enhancement: the quantum random number is used as a secret key to encrypt communication data, so that the communication security is improved, and the risks of unauthorized access and data leakage are reduced.
Selection of a communication link: the service unmanned aerial vehicle can select the best data transfer unmanned aerial vehicle by comprehensively considering the position proximity and the number of hops, so that the data transmission performance is optimized.
Drawings
Fig. 1 is a flow chart according to an embodiment of the present invention.
Detailed Description
System environment: a drone trunking system comprising a ground station and a plurality of drones, the ground station and drones establishing a first communication with a first communication protocol; establishing a second communication between the unmanned aerial vehicle and the unmanned aerial vehicle in a second communication protocol; the first communication is prioritized over the second communication, and the second communication protocol is an ad hoc communication protocol.
The first communication protocol used between the drone and the ground station may vary depending on the particular needs and applications. The following are examples of some of the communication protocols that may be used between the drone and the ground station:
802.11 series protocol (Wi-Fi): wi-Fi is a commonly used protocol that can be used to establish a wireless network connection between a drone and a ground station. It provides broad coverage and high speed data transmission.
LTE (Long-Term Evolution): LTE is a wireless communication protocol widely used for mobile communications. The high-speed data connection system can provide high-speed data connection for the unmanned aerial vehicle, and is suitable for applications requiring large-scale data transmission.
Satellite Communication (satellite communication): satellite communication protocols may be used in remote areas or applications requiring global coverage, providing broad communication coverage.
The choice of communication protocol will depend on the specific requirements of the application, including factors such as communication range, bandwidth requirements, data transfer speed, reliability, real-time and cost.
The second communication protocol is an ad hoc communication protocol. The method is suitable for the situation that network connection needs to be automatically organized and managed without central control. The following are some common ad hoc communication protocols:
ad Hoc network protocol: ad Hoc network protocol is one of the most common Ad Hoc communication protocols. They allow devices to communicate with each other without a central base station by establishing a temporary network connection. For example, ad Hoc networks may be used for point-to-point communication between mobile devices.
MANET (Mobile Ad Hoc Network): the mobile ad hoc network protocol is an ad hoc network protocol specifically designed for mobile devices. They can dynamically adapt to movement between devices and reorganize connections as network topology changes.
Wireless Mesh network protocol: mesh network protocols allow wireless devices to connect to each other in a multi-hop fashion, thereby extending coverage. The Mesh network may automatically repair and reconfigure connections to accommodate the addition or deletion of devices.
These protocols allow devices to establish and maintain communication connections without central coordination, and are suitable for many scenarios, including mobile ad hoc networks, sensor networks, internet of things, and wireless mesh networks. The selection of an appropriate ad hoc communication protocol will depend on the requirements of the particular application, the type of device and the network topology.
Step 1) before unmanned aerial vehicles start to execute tasks, a ground station generates quantum random numbers, different quantum random numbers are distributed to each unmanned aerial vehicle, and the corresponding relation between the unmanned aerial vehicle ID and the distributed quantum random numbers is stored in the ground station.
The detailed implementation process of the steps comprises the following steps:
step 1.1, generating a real quantum random number: the generation of quantum random numbers is typically accomplished using quantum mechanical properties, such as the quantum states of photons. This process typically requires specialized hardware devices, such as quantum random number generators, to ensure true randomness. This device may generate an unpredictable random number sequence.
Step 1.2, different quantum random numbers are distributed for each unmanned aerial vehicle: a different set of quantum random numbers is generated, where each random number is associated with a particular drone. It is ensured that the random number assigned by each drone is unique to avoid duplication.
Step 1.3, establishing a corresponding relation between the unmanned aerial vehicle ID and the quantum random number: in the ground station database or key management system, a table or record is established, and the unique ID of the unmanned aerial vehicle is associated with the assigned quantum random number. In this way the ground station knows what the random number of each drone is.
And 2) after the unmanned aerial vehicles start, each unmanned aerial vehicle keeps connection with the ground station through a first heartbeat message in a first period through a first communication protocol, and each unmanned aerial vehicle is provided with a flag bit P whether the first heartbeat message is normal or not.
The following is a detailed implementation of this step:
step 2.1 determining a first period: the length of time of each cycle is defined to determine the frequency of the heartbeat message. Each drone needs to maintain a connection with the ground station in a first cycle.
Step 2.2, initializing a flag bit P: before each unmanned aerial vehicle starts to execute tasks, a flag bit P is initialized and set to 0, which indicates that connection with a ground station is not established.
Step 2.3, establishing connection with the ground station: each drone establishes a connection with a ground station as specified by the first communication protocol. This includes initializing the communication device, frequency setting, handshaking, etc.
Step 2.4, sending a heartbeat message: during each first period, the drone periodically transmits a first heartbeat message to the ground station. This heartbeat message typically contains an Identification (ID) of the drone and some status information for maintaining the connection status and verifying the integrity of the communication.
Step 2.5 the ground station receives the heartbeat message: the ground station receives the first heartbeat message from each drone and verifies the integrity of the message and the identity of the sender.
Step 2.6, response heartbeat message: the ground station responds to the received heartbeat message. This reply typically contains an acknowledgement to inform the drone ground station that it has received its heartbeat message.
Step 2.7, unmanned aerial vehicle receives the response: each drone receives a reply message from the ground station. If the unmanned aerial vehicle successfully receives the response, the connection with the ground station is normal, and the flag bit P is set to be 1.
Step 2.8, connection maintenance: after receiving the response, the unmanned aerial vehicle considers that connection exists between the unmanned aerial vehicle and the ground station, and the flag bit P is set. If the unmanned aerial vehicle does not receive the response or receives incomplete/wrong response within the specified time, the flag bit P is not set, and the connection is abnormal or interrupted. The above process is repeated to ensure that each drone periodically sends heartbeat messages and maintains a connection status with the ground station.
This implementation helps to ensure that the communication connection between the drone and the ground station remains active, while a flag P is maintained indicating the normal state of the connection. The ground station's reply serves to confirm the connection to ensure that the drone knows whether the connection is normal. This helps to improve the reliability and stability of the communication.
Step 3), each unmanned aerial vehicle keeps connection with all adjacent unmanned aerial vehicles through a second communication protocol in a second period through a second heartbeat message; the second heartbeat message includes the following contents: longitude x, latitude y of unmanned aerial vehicle, motion trend x 'in longitude direction, motion trend y' in latitude direction, unmanned aerial vehicle ID, flag bit P.
The specific implementation process is as follows:
step 3.1 neighbor node discovery:
each drone uses a neighbor node discovery method to detect other drones around.
The neighbor node discovery method may employ conventional beacon broadcasting, active scanning, or location-based methods to determine the presence of surrounding drones.
When a drone detects a potential adjacency node, it records corresponding information, such as the adjacency drone's ID and location information.
Step 3.2, connection establishment:
once the drone detects the neighboring nodes, it may attempt to establish a connection with those neighboring nodes to establish an ad hoc communication link.
In general, connection establishment may include the steps of:
a. the drone sends a connection request message to the potential neighboring nodes.
b. After receiving the request, the adjacent node can perform identity verification to ensure that the request is from a trusted unmanned aerial vehicle.
c. If the authentication is successful, the neighboring node sends a connection confirmation message indicating a willingness to establish a connection.
d. After the connection is established, a communication link is established between the unmanned plane and the adjacent node, and data exchange can be started.
Step 3.3, sending a heartbeat message:
once the connection is established, the drones begin to exchange heartbeat messages periodically to maintain the connection.
The heartbeat message includes information about the drone, such as longitude, latitude, movement trend, ID, etc.
The periodic transmission of heartbeat messages helps to maintain the activity of the connection while providing real-time information about the status of the neighboring nodes.
This refined step 3 emphasizes the key processes of neighbor node discovery, connection establishment, exchange of heartbeat messages, etc. in ad hoc communication. These steps facilitate maintaining a communication link between the drones to support task collaboration and data transfer.
Step 4) when a certain unmanned aerial vehicle needs to carry out service communication with a ground station, the unmanned aerial vehicle is called as a service unmanned aerial vehicle, a zone bit P of the service unmanned aerial vehicle is inquired, and if the zone bit indicates that a first heartbeat message is normal, the step 5 is executed; otherwise, executing the step 6;
and 5) encrypting the service data by taking the quantum random number of the service unmanned aerial vehicle as a secret key, establishing a first communication link with the ground station through a first communication protocol, and then transmitting the first communication link to the ground station.
The following is a detailed implementation of this step:
step 5.1, selecting an encryption algorithm:
a suitable encryption algorithm is selected. For encryption of a quantum random number as a key, a symmetric key encryption algorithm such as AES (advanced encryption standard) is generally used.
Step 5.2, obtaining service data:
the traffic data to be transmitted is prepared, which may be any information or message that is intended to be shared with the ground station.
Step 5.3, encrypting the service data:
and encrypting the service data by using the quantum random number as a key according to the selected encryption algorithm to form ciphertext data.
Step 5.4, transmitting encrypted data:
and transmitting the encrypted service data to the ground station. This may be done by the first communication protocol, ensuring that the data is properly protected during transmission.
Step 5.5 ground station receives and decrypts data:
the ground station receives the encrypted data from the service unmanned aerial vehicle and generates a corresponding secret key by using the quantum random number associated with the unmanned aerial vehicle in the stored association table. The received data is then decrypted using the generated key and restored to the original service data.
Step 6), the service unmanned aerial vehicle inquires a flag bit P in the heartbeat message of the adjacent unmanned aerial vehicle which is connected with the heartbeat message, and if the unmanned aerial vehicle with the flag bit P is set, the step 7 is executed; otherwise, executing the step 8;
step 7) setting the unmanned aerial vehicle with the flag bit P as a candidate transfer unmanned aerial vehicle, obtaining the unmanned aerial vehicle with the nearest prediction distance as the transfer unmanned aerial vehicle according to the distance between the adjacent unmanned aerial vehicle and the service unmanned aerial vehicle, and carrying out data transfer by the transfer unmanned aerial vehicle to complete the communication between the service unmanned aerial vehicle and the ground station.
The following is a detailed implementation of this step:
step 7.1, unmanned aerial vehicle selection of the flag bit P set:
and inquiring all the zone bits P of the adjacent unmanned aerial vehicles, and marking the unmanned aerial vehicle with the zone bit P set as a candidate transfer unmanned aerial vehicle. These drones are considered potential candidates for data transfer.
Step 7.2, predicting the distance between the adjacent unmanned aerial vehicle and the service unmanned aerial vehicle:
assuming that two unmanned aerial vehicles a and B are provided, their initial positions are (x_a, y_a) and (x_b, y_b), respectively, and their speeds are (x '_a, y' _a) and (x '_b, y' _b), respectively. It is desirable to predict their location after time t.
Predicting the position of the unmanned aerial vehicle A:
the longitude position x_a_t of the drone a after time t may be calculated using the following formula: x_a_t=x_a+x' _a×t.
Likewise, the latitude position y_a_t of the unmanned aerial vehicle a after the time t can be calculated using the following formula: y_a_t=y_a+y' _a×t.
Predicting the position of unmanned aerial vehicle B:
the longitude position x_b_t of the drone B after time t can be calculated using the following formula: x_b_t=x_b+x' _b.
Likewise, the latitude position y_b_t of the drone B after the time t may be calculated using the following formula: y_b_t=y_b+y' _b.
Calculating the distance between the unmanned aerial vehicle A and the unmanned aerial vehicle B:
and calculating the great circle distance between the unmanned aerial vehicle A and the unmanned aerial vehicle B by using a Haverine formula. This requires the use of the coordinates of the latitude (y_a_t and y_b_t) and longitude (x_a_t and x_b_t) of drone a and drone B.
One representation of the haverine formula is as follows:
a＝sin2(Δφ/2)+cos(φ1)*cos(φ2)*sin2(Δλ/2)
c＝2*atan2(sqrt(a),sqrt(1-a))
d＝R*c
where d is the great circle distance, Δφ is the difference between the latitudes of the two points, Δλ is the difference between the longitudes of the two points, and R is the radius of the earth (typically about 6371 km is used).
atan2 is a function, returns in the C language refer to azimuth, and the prototype of the function of atan2 in the C language is double atan2 (double y, double x), returns the arctangent of y/x in radians. The sign of the values of y and x determines the correct quadrant. It can also be understood that the argument of the complex number x+yi is calculated, and that atan2 is stable than atan at the time of calculation.
SQRT (SQRT) refers to square root computation for computing the square root of a non-negative real number.
Function prototypes: the functional prototype of the math.h header file in VC6.0 is double sqrt (double);
description: sqrt is Square Root Calculations (square root calculation) by which the floating point capability of the CPU can be examined.
The calculated distance d is expressed in suitable units (e.g. kilometres) to obtain the distance between unmanned aerial vehicle a and unmanned aerial vehicle B.
Step 7.3, selecting the unmanned aerial vehicle closest to the unmanned aerial vehicle:
and selecting the closest one from the candidate transfer unmanned aerial vehicles as the transfer unmanned aerial vehicle. This can be achieved by comparing the predicted distances, choosing the drone with the shortest distance.
Step 8) obtaining the shortest path between the service unmanned aerial vehicle and the unmanned aerial vehicle with the set flag bit P through a breadth-first algorithm, setting the unmanned aerial vehicle with the set flag bit P as a transfer unmanned aerial vehicle, and sending the shortest path to the service unmanned aerial vehicle.
Breadth First Search (BFS) is an algorithm for finding the shortest path in a graph or topology. The core idea of BFS is layer-by-layer expansion, starting from the starting node, first exploring all nodes directly adjacent to the starting node, then exploring the neighbor nodes of these neighboring nodes in turn, and so on, until the target node is found. This procedure ensures that the path found by the BFS is the shortest path from the originating node to the target node.
Breadth First Search (BFS) may be used to help the drone service drone find the shortest path to the ground station. The following is an explanation of how BFS is applied to this process:
starting node: the originating node is a service drone that needs to communicate with the ground station.
Target node: the target nodes are drones with flag bit P set, which may act as data transfer drones.
And (3) a relay node: the relay node is a relay task between the starting node and the target node, and the flag bit P is not set and can not be used as a transfer unmanned aerial vehicle.
The structure of the figure is as follows: in this case, the connection and communication relationship between the unmanned aerial vehicles may be represented as a graph in which nodes represent unmanned aerial vehicles and edges represent the communication relationship therebetween. Each drone may be considered a node, with the communication links between them represented as edges.
BFS algorithm application: the service drone may use the BFS algorithm to search for the shortest path to the adjoining drone with flag P set. This is because the drone with these flag bits P set can be used for data transfer, thereby establishing a communication link.
The service drone starts from itself and first examines the drones directly adjacent to it (those that remain connected to it by the second communication protocol during the second period).
If drones with flag bit P set are found, they can be used for communication as potential data transfer drones.
If no such drone is found, the business drone will continue to expand towards the next layer of adjoining drones to continue the search.
Shortest path: BFS ensures that the drone closest to the service drone is explored first, so the path found will be the shortest path, since BFS is expanded layer by layer, while in each layer the distance of the drone from the service drone gradually increases.
In this way, the BFS may help the service drone to effectively find an adjoining drone with the flag bit P set that may be used for data transfer, and establish a shortest path, thereby meeting the communication needs with the ground station. This ensures efficient transmission of data and reduces latency in communication.
Preferably, if there are multiple shortest paths, one can choose from the following methods: and randomly selecting one path, and transmitting data by a plurality of shortest paths simultaneously as redundant backup by using the path received by the service unmanned aerial vehicle first.
Step 9) the service unmanned aerial vehicle encrypts the transmission data plaintext by using the quantum random number of the service unmanned aerial vehicle to generate a first ciphertext, the first ciphertext and the identification of the service unmanned aerial vehicle are directly or through a shortest path sent to the switching unmanned aerial vehicle, the switching unmanned aerial vehicle encrypts the first ciphertext and the ID of the service unmanned aerial vehicle by using the quantum random number of the service unmanned aerial vehicle to generate a second ciphertext, and the switching unmanned aerial vehicle transmits the second ciphertext to the ground station through a first communication protocol.
The following is a detailed implementation of this step:
step 9.1, the service unmanned aerial vehicle generates a first ciphertext: the service unmanned aerial vehicle uses the quantum random number of the service unmanned aerial vehicle as a secret key to encrypt the data plaintext to be transmitted. This may be encrypted using a suitable symmetric encryption algorithm, such as AES.
Step 9.2, transmitting a first ciphertext and an identifier to the transfer unmanned aerial vehicle: the service unmanned aerial vehicle sends the generated first ciphertext and an Identification (ID) of the service unmanned aerial vehicle to the selected transfer unmanned aerial vehicle.
Step 9.3, the transfer unmanned aerial vehicle receives the first ciphertext and the identification: the transit unmanned aerial vehicle receives a first ciphertext and an identifier from the service unmanned aerial vehicle.
Step 9.4, the transfer unmanned aerial vehicle generates a second ciphertext: the transfer unmanned aerial vehicle uses the quantum random number of the transfer unmanned aerial vehicle as a secret key, and encrypts the first ciphertext and the service unmanned aerial vehicle ID to generate a second ciphertext.
Step 9.5, transmitting the second ciphertext to the ground station: the transfer unmanned aerial vehicle transmits the generated second ciphertext to the ground station through the first communication protocol.
Step 10) after receiving the second ciphertext, the ground station decrypts the quantum random number corresponding to the transfer unmanned aerial vehicle to obtain a first ciphertext and an ID of the service unmanned aerial vehicle, obtains the quantum random number of the corresponding service unmanned aerial vehicle according to the ID of the service unmanned aerial vehicle, decrypts the first ciphertext, and then obtains a transmission data plaintext.
The following is a detailed implementation of this step:
step 10.1, the ground station receives a second ciphertext: the ground station receives a second ciphertext from the transit drone, which is typically transmitted over the first communication protocol.
Step 10.2, obtaining and decrypting quantum random numbers corresponding to the transfer unmanned aerial vehicle: the ground station uses the quantum random number corresponding to the transit drone (assigned to each drone and associated with its ID in step 1) as the corresponding key.
Step 10.3 decryption of the second ciphertext: the ground station decrypts the second ciphertext by using the generated secret key, and restores the second ciphertext to the original first ciphertext and the ID of the service unmanned aerial vehicle.
Step 10.4, ID extraction of service unmanned aerial vehicle: the ground station extracts the ID of the service drone from the decrypted data. This ID is used to determine the service drone with which to communicate.
Step 10.5, obtaining quantum random numbers of the service unmanned aerial vehicle: the ground station uses the ID of the service drone to query an association table stored in the ground station to obtain a quantum random number associated with the service drone.
Step 10.6, the quantum random number of the service unmanned aerial vehicle is used for decryption: the ground station uses the quantum random number of the service unmanned aerial vehicle as a secret key to decrypt the first ciphertext. This will restore the plaintext of the transmitted data.
Step 10.7 data processing: the ground station may process the decrypted data, perform a corresponding operation, or communicate the data to an associated department or application to meet the communication needs.

Claims (8)

1. The method for realizing unmanned aerial vehicle trunking communication by utilizing the mobile self-organizing network is applied to an unmanned aerial vehicle trunking system and comprises a ground station and a plurality of unmanned aerial vehicles, wherein a first communication protocol is established between the ground station and the unmanned aerial vehicles; establishing a second communication between the unmanned aerial vehicle and the unmanned aerial vehicle in a second communication protocol; the first communication is prioritized over the second communication, the second communication protocol being an ad hoc communication protocol; the method specifically comprises the following steps:
step 1), before unmanned aerial vehicles start to execute tasks, a ground station generates quantum random numbers, different quantum random numbers are distributed to each unmanned aerial vehicle, and the corresponding relation between the unmanned aerial vehicle ID and the distributed quantum random numbers is stored in the ground station;
step 2) after the unmanned aerial vehicles start, each unmanned aerial vehicle keeps connection with the ground station through a first heartbeat message in a first period through a first communication protocol, and each unmanned aerial vehicle is provided with a flag bit P whether the first heartbeat message is normal or not;
step 3), each unmanned aerial vehicle keeps connection with all adjacent unmanned aerial vehicles through a second communication protocol in a second period through a second heartbeat message; the second heartbeat message includes the following contents: longitude x, latitude y, motion trend x 'in longitude direction, motion trend y' in latitude direction, unmanned plane ID, flag bit P of unmanned plane;
step 4) when a certain unmanned aerial vehicle needs to carry out service communication with a ground station, the unmanned aerial vehicle is called as a service unmanned aerial vehicle, a zone bit P of the service unmanned aerial vehicle is inquired, and if the zone bit indicates that a first heartbeat message is normal, the step 5 is executed; otherwise, executing the step 6;
step 5) after the service data is encrypted by taking the quantum random number of the service unmanned aerial vehicle as a secret key, a first communication link is established with the ground station through a first communication protocol, and then the service data is sent to the ground station;
step 6), the service unmanned aerial vehicle inquires a flag bit P in the heartbeat message of the adjacent unmanned aerial vehicle which is connected with the heartbeat message, and if the unmanned aerial vehicle with the flag bit P is set, the step 7 is executed; otherwise, executing the step 8;
step 7) setting the unmanned aerial vehicle with the flag position P as a candidate transfer unmanned aerial vehicle, and according to the distance between the adjacent unmanned aerial vehicle and the service unmanned aerial vehicle, obtaining the unmanned aerial vehicle with the nearest predicted distance as the transfer unmanned aerial vehicle, and carrying out data transfer by the transfer unmanned aerial vehicle to complete the communication between the service unmanned aerial vehicle and the ground station;
step 8) obtaining the shortest paths of the service unmanned aerial vehicle and the unmanned aerial vehicle set by the marker bit through a breadth-first algorithm, setting the unmanned aerial vehicle set by the marker bit as a transfer unmanned aerial vehicle, and sending the shortest paths to the service unmanned aerial vehicle;
step 9), the service unmanned aerial vehicle encrypts a transmission data plaintext by using the quantum random number of the service unmanned aerial vehicle to generate a first ciphertext, the first ciphertext and the identification of the service unmanned aerial vehicle are directly or through a shortest path sent to the switching unmanned aerial vehicle, the switching unmanned aerial vehicle encrypts the first ciphertext and the ID of the service unmanned aerial vehicle by using the quantum random number of the service unmanned aerial vehicle to generate a second ciphertext, and the switching unmanned aerial vehicle transmits the second ciphertext to a ground station through a first communication protocol;
step 10) after receiving the second ciphertext, the ground station decrypts the quantum random number corresponding to the transfer unmanned aerial vehicle to obtain a first ciphertext and an ID of the service unmanned aerial vehicle, obtains the quantum random number of the corresponding service unmanned aerial vehicle according to the ID of the service unmanned aerial vehicle, decrypts the first ciphertext, and then obtains a transmission data plaintext.
2. The method according to claim 1, wherein step 1 is specifically:
step 1.1, generating a real quantum random number: the generation of quantum random numbers is typically accomplished using quantum mechanical properties, such as the quantum states of photons;
step 1.2, different quantum random numbers are distributed for each unmanned aerial vehicle: generating a set of different quantum random numbers, wherein each random number is associated with a particular drone;
step 1.3, establishing a corresponding relation between the unmanned aerial vehicle ID and the quantum random number: in the ground station database or key management system, a table or record is established, and the unique ID of the unmanned aerial vehicle is associated with the assigned quantum random number.
3. The method according to claim 1, wherein step 2 is specifically:
step 2.1 determining a first period: the length of time of each cycle is defined to determine the frequency of the heartbeat message. Each drone needs to maintain a connection with the ground station in a first period;
step 2.2, initializing a flag bit P: before each unmanned plane starts to execute tasks, initializing a zone bit P, setting the zone bit P to 0, and indicating that connection with a ground station is not established;
step 2.3, establishing connection with the ground station: each unmanned aerial vehicle establishes connection with a ground station according to the specification of a first communication protocol;
step 2.4, sending a heartbeat message: in each first period, the unmanned opportunity periodically sends a first heartbeat message to the ground station;
step 2.5 the ground station receives the heartbeat message: the ground station receives the first heartbeat message from each unmanned aerial vehicle and verifies the integrity of the message and the identity of the sender;
step 2.6, response heartbeat message: the ground station responds to the received heartbeat message;
step 2.7, unmanned aerial vehicle receives the response: each unmanned aerial vehicle receives a response message from the ground station, if the unmanned aerial vehicle successfully receives a response, the connection between the unmanned aerial vehicle and the ground station is normal, and the flag bit P is set to be 1;
step 2.8, connection maintenance: after receiving the response, the unmanned aerial vehicle considers that connection exists between the unmanned aerial vehicle and the ground station, the zone bit P is set, if the unmanned aerial vehicle does not receive the response or receives incomplete/wrong response within a specified time, the zone bit P is not set, the connection is abnormal or interrupted, and the process is repeated to ensure that each unmanned aerial vehicle periodically sends heartbeat messages and maintain the connection state between the unmanned aerial vehicle and the ground station.
4. The method according to claim 1, wherein step 5 is specifically:
step 5.1, selecting an encryption algorithm: a suitable encryption algorithm is selected. For encryption of a quantum random number as a key, a symmetric key encryption algorithm such as AES (advanced encryption standard) is generally used;
step 5.2, obtaining service data: preparing traffic data to be transmitted, which may be any information or message that is intended to be shared with the ground station;
step 5.3, encrypting the service data: encrypting the service data by using the quantum random number as a key according to the selected encryption algorithm to form ciphertext data;
step 5.4, transmitting encrypted data: transmitting the encrypted service data to a ground station;
step 5.5 ground station receives and decrypts data: the ground station receives the encrypted data from the service unmanned aerial vehicle and generates a corresponding secret key by using the quantum random number associated with the unmanned aerial vehicle in the stored association table.
5. The method of claim 1, wherein the specific calculation method in step 7 is:
assuming two unmanned aerial vehicles a and B, whose initial positions are (x_a, y_a) and (x_b, y_b), respectively, and whose speeds are (x '_a, y' _a) and (x '_b, y' _b), respectively, it is desirable to predict their positions after time t;
predicting the position of the unmanned aerial vehicle A:
the longitude position x_a_t of the drone a after time t may be calculated using the following formula: x_a_t=x_a+x' _a×t.
Likewise, the latitude position y_a_t of the unmanned aerial vehicle a after the time t can be calculated using the following formula: y_a_t=y_a+y' _a×t;
predicting the position of unmanned aerial vehicle B:
the longitude position x_b_t of the drone B after time t can be calculated using the following formula: x_b_t=x_b+x' _b.
Likewise, the latitude position y_b_t of the drone B after the time t may be calculated using the following formula: y_b_t=y_b+y' _b;
calculating the distance between the unmanned aerial vehicle A and the unmanned aerial vehicle B:
and calculating the great circle distance between the unmanned aerial vehicle A and the unmanned aerial vehicle B by using a Haverine formula. This requires the use of the coordinates of the latitude (y_a_t and y_b_t) and longitude (x_a_t and x_b_t) of drone a and drone B;
one representation of the haverine formula is as follows:
c＝2*atan2(sqrt(a),sqrt(1-a))；
d＝R*c；
where d is the great circle distance, Δφ is the difference between two points of latitude, Δλ is the difference between two points of longitude, and R is the radius of the earth;
the calculated distance d is expressed in appropriate units to obtain the distance between unmanned aerial vehicle a and unmanned aerial vehicle B.
6. The method according to claim 1, wherein step 9 is specifically:
step 9.1, the service unmanned aerial vehicle generates a first ciphertext: the service unmanned aerial vehicle uses the quantum random number of the service unmanned aerial vehicle as a key to encrypt a data plaintext to be transmitted;
step 9.2, transmitting a first ciphertext and an identifier to the transfer unmanned aerial vehicle: the service unmanned aerial vehicle sends the generated first ciphertext and an Identification (ID) of the service unmanned aerial vehicle to the selected transfer unmanned aerial vehicle;
step 9.3, the transfer unmanned aerial vehicle receives the first ciphertext and the identification: the switching unmanned aerial vehicle receives a first ciphertext and an identifier from the service unmanned aerial vehicle;
step 9.4, the transfer unmanned aerial vehicle generates a second ciphertext: the transfer unmanned aerial vehicle uses the quantum random number of the transfer unmanned aerial vehicle as a secret key, and encrypts the first ciphertext and the service unmanned aerial vehicle ID to generate a second ciphertext;
step 9.5, transmitting the second ciphertext to the ground station: the transfer unmanned aerial vehicle transmits the generated second ciphertext to the ground station through the first communication protocol.
7. The method according to claim 1, wherein step 10 is specifically:
step 10.1, the ground station receives a second ciphertext: the ground station receives a second ciphertext from the transit drone, typically transmitted over the first communication protocol;
step 10.2, obtaining and decrypting quantum random numbers corresponding to the transfer unmanned aerial vehicle: the ground station uses the quantum random number corresponding to the transit drone (assigned to each drone and associated with its ID in step 1) as the corresponding key;
step 10.3 decryption of the second ciphertext: the ground station decrypts the second ciphertext by using the generated secret key, and restores the second ciphertext to the original first ciphertext and the ID of the service unmanned aerial vehicle;
step 10.4, ID extraction of service unmanned aerial vehicle: the ground station extracts the ID of the service unmanned aerial vehicle from the decrypted data;
step 10.5, obtaining quantum random numbers of the service unmanned aerial vehicle: the ground station uses the ID of the service unmanned aerial vehicle to inquire an association table stored in the ground station so as to acquire a quantum random number associated with the service unmanned aerial vehicle;
step 10.6, the quantum random number of the service unmanned aerial vehicle is used for decryption: the ground station uses the quantum random number of the service unmanned aerial vehicle as a secret key to decrypt the first ciphertext. This will restore the transmission data plaintext;
step 10.7 data processing: the ground station may process the decrypted data, perform a corresponding operation, or communicate the data to an associated department or application to meet the communication needs.
8. A computer program for performing the method of any of claims 1-7.
CN202311474481.5A 2023-11-07 2023-11-07 Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network Pending CN117479347A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311474481.5A CN117479347A (en) 2023-11-07 2023-11-07 Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311474481.5A CN117479347A (en) 2023-11-07 2023-11-07 Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network

Publications (1)

Publication Number Publication Date
CN117479347A true CN117479347A (en) 2024-01-30

Family

ID=89634487

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311474481.5A Pending CN117479347A (en) 2023-11-07 2023-11-07 Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network

Country Status (1)

Country Link
CN (1) CN117479347A (en)

Similar Documents

Publication Publication Date Title
Haghighi et al. Highly anonymous mobility-tolerant location-based onion routing for VANETs
Raja et al. Efficient and secured swarm pattern multi-UAV communication
CN101741566B (en) Method for entity authentication based on secret sharing encryption
KR101670522B1 (en) Time Synchronization Method in Machine to Machine Communication System
US9774585B2 (en) Method and device for forming a secure wireless network with limited resources
Haseeb et al. Efficient and trusted autonomous vehicle routing protocol for 6G networks with computational intelligence
Sadakale et al. TAD‐HOC Routing Protocol for Efficient VANET and Infrastructure‐Oriented Communication Network
Logeshwari et al. Authenticated anonymous secure on demand routing protocol in VANET (Vehicular adhoc network)
Mershad et al. A blockchain model for secure communications in internet of vehicles
Sharvari et al. Connectivity and collision constrained opportunistic routing for emergency communication using UAV
Islam et al. An expedite group key establishment protocol for Flying Ad-Hoc Network (FANET)
Yun et al. Ticket-based authentication protocol for underwater wireless sensor network
CN117479347A (en) Method for realizing unmanned aerial vehicle cluster communication by utilizing mobile self-organizing network
US20230096692A1 (en) Efficient wireless public key exchange
CN112689282B (en) Anonymous communication method for protecting position privacy in wireless sensor network
Alouache et al. Securing southbound interface of HSDN-GRA vehicular routing protocol using a distributed trust
KR102154657B1 (en) Data transmission method of wireless communication system using block chain
CN114338702A (en) Communication data forwarding method and unmanned system cluster
Sultan et al. Simulation-based evaluation of mobile ad hoc network routing protocols: Ad hoc on-demand distance vector, fisheye state routing, and zone routing protocol
Yu et al. Names to Rule Them All: Unifying Mobile Networking via Named Secured Data
Shrestha et al. An optimized multipath routing for secure communication of wireless sensor network
EP3713152A1 (en) Techniques for authenticating establishment of an ad-hoc communication link
Rana et al. Directional antenna-enabled multi-hop directional location routing in vehicular ad-hoc networks
Limbasiya et al. Secure and effective geo-data transmission scheme for vehicle-to-vehicle communication
MS et al. Implementation of Protected Routing to Defend Byzantine Attacks for MANET's.

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination