Decentralized autonomous decision-making method for drone swarm networks

Abstract

This invention discloses a decentralized autonomous decision-making method for drone swarm networks. This method provides decision-making mechanisms for individual drones and collaborative decision-making, improving decision-making efficiency. By using smart contracts specific to drone tasks, it increases the speed at which the drone swarm executes attacks and ensures the accuracy of the information the drone swarm obtains from other nodes and attack targets. This mechanism utilizes a block-consistent swarm consensus algorithm and smart behavior contracts to collaboratively conduct autonomous drone decision-making. The block-consistent swarm consensus algorithm leverages several advantages of blockchain technology, effectively handling data management and information communication and combat between drones. The smart contract-based autonomous decision-making allows drones to execute tasks independently without requiring extensive collaboration. The drone swarm can determine whether to approve a request using the task-specific smart contract without waiting for confirmation from all parties, maximizing the efficiency of drone swarm task execution.

Description

Technical Field

[0001] The present invention relates to the fields of blockchain and drone swarm networks, and in particular to a decentralized autonomous decision-making method for drone swarm networks. Background Art

[0002] In the future, data will play an increasingly important role in the execution of missions. The accuracy of data is directly related to the results of mission execution. It can even be said that data warfare is an extremely important form of future warfare. Data warfare can be seen as interfering with the opponent's ability to generate, store, distribute, process, analyze and use information while protecting one's own ability to do so.

[0003] Blockchain is a shared, distributed, tamper-proof database that can be shared by all participants on the network but not controlled by any single entity. Due to the outstanding advantages of blockchain technology such as decentralization, trustlessness, and tamper-proofing, its application is no longer limited to the financial circle, but has gradually entered other fields, such as the military field. Many countries and organizations, including the United States and NATO, are actively exploring the application of blockchain technology in the military field.

[0004] The use of blockchain can provide a new paradigm for the design, operation and defense of data warfare networks. The mechanism of blockchain is to assume that there are enemies in the network; to suppress enemy actions by using the number advantage of undamaged nodes; and to prevent information from being manipulated or destroyed for a long time. In short, blockchain creates a trusted system in an untrustworthy world, which has huge application potential.

[0005] Blockchain has three major advantages over traditional network defense strategies: First, blockchain assumes that network attacks come from both adversaries and trusted insiders, so it does not adopt a perimeter protection approach, but is designed to protect data in a conflict network environment. Second, the blockchain network uses the collective power of the network to actively counter the actions of malicious actors. That is, blockchain will take advantage of the asymmetric advantage of using more to defeat fewer. Finally, blockchain does not rely on trust to achieve security. Blockchain provides an inherent security function, and other security functions can be added on top of it according to application requirements. It is precisely because of these advantages that blockchain can successfully and securely operate on the open Internet without a trusted central authority, completely exposed to malicious actors. Blockchain can still protect data integrity in the case of malicious actions by the enemy, so it has high practicality in related field applications.

[0006] Traditional drone control uses a centralized control method. When the control center node is attacked and damaged, the swarm will lose its ability to coordinate. At the same time, when some drone nodes are invaded, the spread of malicious messages is uncontrollable, and the instructions issued may not be consistent with the actual situation. Therefore, it is necessary to develop a swarm network with built-in blockchain to overcome the defects of traditional control solutions. Summary of the invention

[0007] The purpose of the present invention is to provide a decentralized autonomous decision-making method for a drone swarm network, which can achieve autonomous decision-making without relying on a single decision-making center, and ensure that the drone nodes continue to perform tasks when encountering an invasion.

[0008] The objective of the present invention is achieved through the following technical solutions:

[0009] A decentralized autonomous decision-making method for a drone swarm network, comprising:

[0010] The drone nodes establish communication connections, and each drone node has a built-in blockchain. The blockchain records the interaction information of all drone nodes in the system over a period of time, forming a swarm autonomous network with a built-in blockchain. The drone nodes jointly maintain a distributed blockchain database, which builds a trusted environment for various tasks, provides distributed data storage, and completes intelligent collaboration through smart contracts. Each drone node has computing power and can support consensus algorithm computing and application computing.

[0011] For the tasks to be performed, the drone nodes in the swarm autonomous network make autonomous decisions through consensus algorithms and smart contracts.

[0012] It can be seen from the technical solution provided by the present invention that the method provides a decision-making and collaborative decision-making mechanism for a single drone, which improves the efficiency of decision-making; using smart contracts for drone tasks to improve the speed of drone swarms in executing attacks can ensure the accuracy of drone swarms in obtaining information about other nodes and attack targets. The mechanism uses the block-consistent swarm consensus algorithm and smart behavior contracts to collaboratively make autonomous decisions for drones. Among them, the block-consistent swarm consensus algorithm is based on several major advantages of blockchain technology, and can better handle data management and information communication and combat issues between drones; autonomous decision-making based on smart contracts can enable drones to perform tasks independently and do not require too much coordination requirements. The drone swarm does not need to wait for everyone's confirmation, and can use the smart contract for the task to determine whether the request is passed, thereby maximizing the efficiency of drone swarm task execution. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0014] Figure 1A flowchart of a decentralized autonomous decision-making method for a drone swarm network provided by an embodiment of the present invention;

[0015] Figure 2 A schematic diagram of performing tasks in a time-space sensitive environment provided by an embodiment of the present invention;

[0016] Figure 3 A schematic diagram of a single survey task process provided by an embodiment of the present invention;

[0017] Figure 4 A schematic diagram of a single attack task process provided by an embodiment of the present invention;

[0018] Figure 5 A schematic diagram of a formation mission process provided by an embodiment of the present invention;

[0019] Figure 6 A schematic diagram of an obstacle avoidance task process provided by an embodiment of the present invention;

[0020] Figure 7 A schematic diagram of a collaborative attack task process provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

[0022] In modern applications (such as modern warfare), a large number of drones are networked in the form of swarms to carry out large-scale, complex tasks. For drone swarms in swarm networks, the correctness of mission command execution, the reliability of information transmission between drones, the agility of responding to emergencies, and the tolerance to enemy software and hardware attacks all need to be carefully considered and handled.

[0023] Since traditional drone control uses a centralized control method, when the control center node is attacked and damaged, the swarm will lose its ability to coordinate. At the same time, when certain drone nodes are invaded, the spread of malicious messages is uncontrollable, and the instructions issued may not be consistent with the actual situation. In order to deal with the above problems, the embodiment of the present invention provides a decentralized autonomous decision-making method for drone swarm networks, such as Figure 1 As shown, the method mainly includes:

[0024] The drone nodes establish communication connections through existing communication means. Each drone node has a built-in blockchain, which records the interaction information of all drone nodes in the system over a period of time, forming a swarm autonomous network with a built-in blockchain. The drone nodes jointly maintain a distributed blockchain database, which builds a trusted environment for various tasks, provides distributed data storage, and completes intelligent collaboration through smart contracts. Each drone node has computing power and can support consensus algorithm calculations and application calculations. For tasks to be executed, the drone nodes in the swarm autonomous network make autonomous decisions through consensus algorithms and smart contracts.

[0025] In the embodiment of the present invention, each drone node maintains a blockchain, and the blockchain consists of blocks connected end to end. The block includes a block header and a block body, and the block header includes a hash value, a timestamp, a version number, etc. The block body records the interaction information of all drones in the system for a period of time. The swarm autonomous network with built-in blockchain can make autonomous decisions without or less interaction with the ground control end, reducing the combat delay of the drone swarm, so that the drone swarm can take advantage in a time-space sensitive environment and complete related tasks.

[0026] like Figure 2 As shown in the figure, when performing tasks in a time-space sensitive environment, drone nodes 1, 2, 3, 4, 5, and 6 form a blockchain system. In the system, drone nodes form a P2P network, and drone nodes can communicate with each other in pairs in the P2P network. A reconnaissance perception target appears in the upper right corner. Drone nodes 2, 3, and 4 discover the target. The three drones broadcast the location and discovery time of the reconnaissance perception target on the blockchain. Other drones in the blockchain receive the information and store it. After a period of time, a block is formed, and a consensus algorithm is used to calculate the record of a certain drone node. The drone node broadcasts the block, and the drone nodes that receive the block begin to verify the information recorded in the block. If the verification passes, the block is connected to the local blockchain. If the verification fails, the block is discarded. The longest blockchain is always the standard within the system.

[0027] The use of blockchain technology can not only enable drones to perceive and share information more comprehensively, but also expand the single ground control method to a joint ground and air control method, avoiding the problem of the system being unable to operate once it loses contact with the ground. For the above scenarios, through blockchain, drones 1, 5, and 6 can obtain the situation of the reconnaissance and perception targets perceived by drones 2, 3, and 4. For the nodes of the drone system, the precise location, flight speed, and flight direction of the target can be determined through the reconnaissance and perception results of multiple drones. The comprehensive perception results of the drone group can be organized in a short time, and the precise location of the target can be calculated. Through the information sharing method of blockchain, the interference of hijacked aircraft on the entire drone system can be effectively reduced to prevent deception.

[0028] Blockchain technology helps build an autonomous and secure mission command and control system. Combining blockchain with artificial intelligence and the military Internet of Things can change the future military command and control model, that is, from a centralized combat control model to decentralized control at the unit level. On the battlefield of the future, a group of military drones continuously share combat data and decisions in a decentralized manner, operate as a unified organization, do not rely on a single decision-making center, and are able to survive casualties without losing combat capabilities. A group of autonomous systems coordinated through blockchain can provide a more feasible design that retains the advantages of coordination while eliminating the inherent vulnerabilities of central control.

[0029] In the embodiment of the present invention, autonomous decision-making is achieved based on consensus algorithm and smart contract.

[0030] 1. Consensus algorithm

[0031] In the embodiment of the present invention, a block-consistency-based swarm consensus algorithm (PBFT) is adopted. PBFT is a type of state machine Byzantine system that requires the joint maintenance of a state and the consistent actions taken by all nodes. To this end, three types of protocols need to be run: consistency protocol, checkpoint protocol, and view change protocol. Consistency protocol: solves how to reach a consensus; checkpoint protocol: similar to the restore point of the operating system; view change protocol: each server node of the system works under the same configuration information. The logical representation of a set of data derived from the configuration information is called a "view". The derived set of data includes but is not limited to the location, ID and other information of the drone node. The configuration information is determined by the master node. When the master node is replaced, the view also changes accordingly. We mainly focus on the consistency protocol that supports the normal operation of daily systems. The consistency protocol includes at least the following stages: request, pre-prepare, prepare, commit, and reply. The description of each stage is as follows:

[0032] Request phase: The individual drone node sends the request to the master drone node.

[0033] Pre-preparation phase: After receiving the request from the individual drone node, the master drone node assigns a sequence number n to the request, broadcasts the sequence number assignment message and the request message of the individual drone node, and constructs a pre-preparation message to send to each drone node.

[0034] Preparation phase: After receiving the pre-preparation message, the drone node verifies the message; if the verification is passed, the preparation message is broadcast to other drone nodes; if the verification fails, the pre-preparation message is discarded; within the set time range, if more than a specified proportion of drone nodes in the network broadcast the preparation message (for example, more than 2 / 3 of the total number of drone nodes), it means that the preparation phase has been completed.

[0035] Commit phase: After each drone node verifies the request and sequence number in the view, it broadcasts the commit message; if more than a specified proportion of drone nodes in the network broadcast the commit message (for example, more than 2 / 3 of the total number of drone nodes), it means that a consensus has been reached in the commit phase, and the individual drone node will execute the request and write the data to the blockchain.

[0036] Response phase: The master drone node sends the consensus response to the individual drone nodes.

[0037] The PBFT consensus algorithm can solve the problem that the Proof of Work (PoW) algorithm occupies a large amount of computing resources and generates blocks slowly, overcome the shortcomings of the Proof of Stake (PoS) algorithm that requires incentive currency participation and has low throughput, and alleviate the trouble of super node voting in the Delegated Proof of Stake (DPoS) algorithm. The PBFT algorithm realizes autonomous decision-making of drones, for example, drones in a drone swarm can perform terrain survey tasks.

[0038] In an embodiment of the present invention, a master drone node is provided in the swarm autonomous network with built-in blockchain, and when the master drone node is abnormal, a new master drone node will be reselected, which can be achieved in a conventional manner.

[0039] 2. Smart contracts.

[0040] Smart contracts are digital contracts based on cryptography technology and are computer programs. They are computer protocols designed to disseminate, verify or execute contracts in an information-based manner. Smart contracts allow for trusted transactions without a third party. These transactions are traceable and irreversible.

[0041] Working principle of smart contract: users promise that the rights and obligations of both parties are written into electronic machine language, and participants sign with their own private keys. The signed smart contract is transmitted to the blockchain network. The contract is spread throughout the blockchain network in a P2P manner. Other drone nodes in the network will save the received contract to the memory first, waiting to trigger the consensus and processing of the contract. In the embodiment of the present invention, the PBFT algorithm introduced above can be used to reach a consensus on the contract. After the consensus time is up, the main drone node will package all the contracts saved in the recent period into a contract set, calculate the hash value of this contract set, assemble it into a block structure, and spread it to the entire network; after receiving it, other drone nodes will compare and verify it with the contract set they have saved, and at the same time send a contract set that they approve to other drone nodes; through multiple rounds of sending and comparison, all drone nodes will eventually reach a consensus on the latest contract set within the specified time.

[0042] Those skilled in the art can understand that in the above stages, other drone nodes refer to drone nodes other than the main drone node; a transaction needs to be initiated before consensus, and the drone node that initiates the transaction can be called a request node. During the consensus process, the main drone node and other drone nodes need to reach a consensus through multiple interactions. The main drone node and other drone nodes involved in the consensus process can be called verification nodes.

[0043] In addition to the consensus algorithm and smart contracts, the embodiment of the present invention also introduces the security attribute value of the drone node. The security attribute represents the security level of each node in the drone swarm. The higher the security attribute, the higher its credibility. In certain application scenarios of autonomous decision-making, the security attribute value is also taken as a consideration.

[0044] In the embodiment of the present invention, the tasks to be performed are divided into single tasks and collaborative tasks. Autonomous decision-making mainly includes the decision-making of single drones and the collaborative decision-making mechanism. The following is a detailed introduction in conjunction with the relevant tasks. It is worth noting that the specific task types involved below are only examples and do not constitute a limitation; in actual applications, users can arrange the task types to be performed according to actual conditions.

[0045] 1. Single task.

[0046] According to different task types and requirements, there are two main methods:

[0047] 1. A single drone node first sends a request to the swarm autonomous network. The drone nodes in the network obtain the result of the request through the consensus algorithm (the consensus algorithm can be found in the previous introduction), that is, approval or rejection; when judging whether to agree to the request, it is necessary to call the smart contract of the corresponding task. The smart contract stipulates the rules for drone nodes to execute single tasks. Through the prescribed rules, drone nodes can determine whether the single drone node can execute the task, and then give a consensus result.

[0048] In the embodiment of the present invention, the smart contract needs to use the consensus algorithm when calling. After the single drone node (request node) sends the request, other drone nodes need to call the contract function and pass the requested information as a parameter to the smart contract. The smart contracts of different tasks contain corresponding task rules. Therefore, the smart contract can directly determine whether to agree to the request. Here, calling the contract function is the process of initiating a transaction. This transaction needs to be agreed to by consensus before it can be finally confirmed and put on the chain, so that the transaction can take effect and the call will be successful.

[0049] If a single drone requests to share the task results with other drone nodes when executing a single task, the drone nodes in the network will use the smart contract for this single task to determine whether to directly approve the request to share the task results based on whether the security attribute of the single drone node stored in the blockchain database is greater than the threshold.

[0050] For the specific implementation process of the consensus and smart contracts involved in the above tasks, please refer to the previous description and will not be repeated here.

[0051] like Figure 3 As shown in the figure, the above process is introduced by taking the terrain survey task as an example. For the terrain survey task, the contract stipulates the rules for the drone to perform a single survey task, such as whether the distance between the survey point coordinates and the requesting drone is less than a certain value, or whether the security attribute of the requesting drone node (i.e., the single drone node) is greater than a threshold, etc. When the requesting node wants to share the survey results with other drone nodes in the drone swarm, the node can use the smart contract for this task to determine whether to directly pass the request to share the survey results based on whether the security attribute of the requesting node stored in the blockchain network is greater than the threshold, thereby maximizing the speed of the drone swarm sharing terrain survey information and improving efficiency.

[0052] 2. A single drone node first sends a request to the swarm autonomous network. If the latency requirement of the single task is higher than the set value, the drone nodes in the network use the smart contract for this single task to determine whether to directly pass the request based on whether the security attribute of the single drone node stored in the blockchain database is greater than the threshold. That is, the rules in the smart contract include the judgment that the security attribute is greater than the threshold. If it is greater than the threshold, the request is directly passed.

[0053] Those skilled in the art can understand that the smart contract for this single task involved in the text determines whether to directly request or use the smart contract for a task to complete a task. The smart contract is a contract that has been agreed upon in the network through the method described above. The smart contract is deployed by the drone node. When the drone node deploys the smart contract, it will also initiate a transaction. This transaction needs to be agreed upon before it can be finally confirmed and put on the chain; after that, the drone node will call the contract function, and when calling the contract function, it will also initiate a transaction. Consensus is also required to successfully call the contract function.

[0054] For example, the single task can be an attack task; Figure 4 As shown in the figure, when a single drone is performing an attack mission, the drone node may be in a good opportunity and needs to seize the opportunity to attack the target to prevent the target from escaping. The battlefield changes rapidly, and the latency requirement for a single attack mission is very high. The drone swarm needs to quickly complete the verification of the single attack mission. Therefore, when a drone is performing a single attack mission and wants to confirm the attack mission with other nodes in the drone swarm, the drone swarm node does not need to wait for everyone's confirmation (that is, it does not need to wait for the complete PBFT consensus process). It can use the smart contract for this task to determine whether to directly pass the request based on the security attributes of the request node stored in the blockchain network, and then update the block. The above method is used to maximize the speed of the drone swarm to perform single attacks, seize opportunities, and improve combat efficiency.

[0055] 2. Collaborative Tasks

[0056] For collaborative tasks to be executed, drone nodes in the network wait for the latest block update, and make autonomous decisions based on the latest updated data through consensus algorithms and smart contracts; collaborative tasks include: formation tasks, obstacle avoidance tasks and attack tasks.

[0057] 1. Formation mission.

[0058] For formation tasks, the drone nodes in the network need to obtain the positions of other drone nodes in real time to determine the drone nodes included in the formation (that is, which drones can join the formation). The formation task has high requirements for the latest data, and there is no particularly high demand for the speed of formation formation. Therefore, when performing the formation task, the drone nodes in the network need to wait for the latest block to update to obtain the latest location information of other drone nodes recorded in the latest block, and then use the smart contract for the formation task to complete the formation task, and wait for the block to be updated before confirming the smart contract. The smart contract for the formation task includes: flying in a set formation under a set terrain (at this time, the drone needs to perform a survey task in advance and share the survey results), or flying in a set formation when performing a set task.

[0059] For ease of understanding, Figure 5 The following scenario is used as an example to illustrate. Figure 5 As shown, the drone node that needs to form a formation sends a formation request to the master node as a requesting node. The request also includes the number of the drone receiving node with which it forms a formation. After the master node records the request, the whole network consensus updates the block. After that, the smart contract is used to determine whether to execute the formation through the security attribute value in the blockchain.

[0060] 2. Obstacle avoidance mission.

[0061] For obstacle avoidance tasks, drone nodes in the network need to reach a consensus on obstacle information across the entire network in real time, and need to obtain the locations of other drone nodes in real time, so as to use the smart contract for obstacle avoidance tasks to determine whether the drone nodes need to adjust their positions; obstacle avoidance tasks have relatively high requirements for obstacle and drone location information, so when drones are performing obstacle avoidance tasks, drone nodes in the network need to wait for the latest block to be updated, so as to obtain the latest location information of other drone nodes recorded in the latest block, and the corresponding obstacle locations, and then use the smart contract for obstacle avoidance tasks to complete the obstacle avoidance tasks, and wait for the block to be updated before confirming the smart contract; the smart contract for obstacle avoidance tasks includes: when encountering an obstacle of a set size, the drone avoids the obstacle in a set manner (for example, turn left to bypass, turn right to bypass, bypass on both sides, up, down, etc.).

[0062] For ease of understanding, Figure 6 The following scenario is used as an example to illustrate. Figure 6 As shown in the figure, after a drone node finds obstacle A, it sends the obstacle information (including obstacle size, location, etc.) to the master node; after the master node records the obstacle information, the whole network consensus updates the block, and then uses the smart contract to execute the obstacle avoidance task through the security attribute value in the blockchain.

[0063] 3. Coordinated attack mission.

[0064] For collaborative attack tasks, they are generally large-scale attack tasks with large attack areas, and multiple drones are required to perform the attack tasks in coordination. The drone nodes in the network need to accurately reach a consensus on the location information of the target across the network, and need to obtain the locations of other drone nodes in real time, so as to use the smart contract for collaborative attack tasks to determine the drone nodes involved in the collaborative attack tasks. The collaborative attack tasks have high requirements for the information of the target area and the location information of the drones, so when performing collaborative attack tasks, the drone nodes in the network need to wait for the latest block to be updated to obtain the latest location information of other drone nodes recorded in the latest block, as well as the location information of the consensus target, and then use the smart contract for the collaborative attack tasks to complete the collaborative attack tasks, and wait for the block to be updated before confirming the smart contract; the smart contract for the collaborative attack tasks includes: drone nodes that perform tasks, and collaborative methods.

[0065] For ease of understanding, Figure 7 The following scenario is used as an example to illustrate. Figure 7 As shown in the figure, a drone node participating in the attack mission sends an attack request to the master node, and the request contains relevant information about the attack target; after the master node records the attack request, the whole network consensus updates the block, and then uses the smart contract to execute the coordinated attack mission through the security attribute value in the blockchain.

[0066] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above embodiments can be implemented by software, or by means of software plus necessary general hardware platforms. Based on such understanding, the technical solutions of the above embodiments can be embodied in the form of software products, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0067] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A decentralized autonomous decision-making method for drone swarm networks, characterized in that: include: The drone nodes establish communication connections, and each drone node has a built-in blockchain. The blockchain records the interaction information of all drone nodes in the system over a period of time, forming a swarm autonomous network with a built-in blockchain. The drone nodes jointly maintain a distributed blockchain database, which builds a trusted environment for various tasks, provides distributed data storage, and completes intelligent collaboration through smart contracts. Each drone node has computing power and can support consensus algorithm computing and application computing. For the tasks to be performed, the drone nodes in the swarm autonomous network make autonomous decisions through consensus algorithms and smart contracts; The principle of the smart contract is as follows: the signed smart contract is transmitted to the swarm autonomous network with built-in blockchain and spread through P2P; the drone nodes in the network save the received smart contract into memory, waiting to trigger the consensus and processing of the smart contract; after the consensus time is up, the main drone node will pack all the smart contracts saved in the recent period into a contract set, calculate the hash value of the contract set, assemble it into a block structure, and spread it to the entire network; after receiving it, other drone nodes will compare and verify it with the contract set they have saved, and at the same time send a contract set they approve to other drone nodes; through multiple rounds of sending and comparison, all drone nodes will eventually reach a consensus on the latest contract set within the specified time; The consensus algorithm includes the following stages: Request phase: The single drone node sends the request to the master drone node; Pre-preparation phase: After receiving the request from the individual drone node, the master drone node assigns a sequence number n to the request, broadcasts the sequence number assignment message and the request message from the individual drone node, and constructs a pre-preparation message to send to each drone node; Preparation phase: After receiving the pre-prepared message, the drone node verifies the message; If the verification is passed, the preparation message is broadcast to other drone nodes; if the verification fails, the preparation message is discarded; within the set time range, if more than a specified proportion of drone nodes in the network broadcast the preparation message, it means that the preparation phase has been completed; Submission phase: After each drone node verifies the request and sequence number in the view, it broadcasts the submission message; if more than a specified proportion of drone nodes in the network broadcast the submission message, it means that a consensus has been reached in the submission phase, and the single drone node will execute the request and write the data into the blockchain; Response phase: The master drone node sends the consensus response to the individual drone nodes.

2. The method for decentralized autonomous decision-making of drone swarm network according to claim 1, characterized in that: A smart contract needs to use a consensus algorithm when it is called. After a single drone node sends a request for the task to be executed, other drone nodes need to call the contract function and pass the requested information as a parameter to the smart contract, and the smart contract determines whether to agree to the request.

3. The method for decentralized autonomous decision-making of drone swarm network according to claim 2, characterized in that: For a single task to be executed, a single drone node first sends a request to the swarm autonomous network. The drone nodes in the network obtain the result of the request through the consensus algorithm, that is, approval or rejection. When judging whether to agree to the request, the corresponding task contract needs to be called. The contract stipulates the rules for drone nodes to execute single tasks. Through the prescribed rules, drone nodes can determine whether the single drone node can execute the task, and then give a consensus result. If a single drone requests to share the task results with other drone nodes when executing a single task, the drone nodes in the network will use the smart contract for this single task to determine whether to directly approve the request to share the task results based on whether the security attribute of the single drone node stored in the blockchain database is greater than the threshold.

4. The method for decentralized autonomous decision-making of drone swarm network according to claim 2, characterized in that: For a single task to be executed, a single drone node first sends a request to the swarm autonomous network. If the latency requirement of the single task is higher than the set value, the drone node in the network uses the smart contract for this single task to determine whether to directly pass the request based on whether the security attribute of the single drone node stored in the blockchain database is greater than the threshold.

5. The method for decentralized autonomous decision-making of drone swarm network according to claim 2, characterized in that: For collaborative tasks to be executed, drone nodes in the network wait for the latest block update, and make autonomous decisions based on the latest updated data through consensus algorithms and smart contracts; collaborative tasks include: formation tasks, obstacle avoidance tasks and attack tasks.

6. The method for decentralized autonomous decision-making of drone swarm network according to claim 5, characterized in that: For formation tasks, drone nodes in the network need to obtain the locations of other drone nodes in real time to determine the drone nodes included in the formation; drone nodes in the network need to wait for the latest block to be updated to obtain the latest location information of other drone nodes recorded in the latest block, and then use the smart contract for the formation task to complete the formation task, and wait for the block to be updated before confirming the smart contract; The smart contract for the formation mission includes: flying in a set formation under a set terrain, or flying in a set formation when performing a set mission.

7. The method for decentralized autonomous decision-making of drone swarm network according to claim 5, characterized in that: For obstacle avoidance tasks, drone nodes in the network need to reach a consensus on obstacle information in real time, and need to obtain the locations of other drone nodes in real time, so as to use the smart contract for obstacle avoidance tasks to determine whether the drone nodes need to adjust their positions; drone nodes in the network need to wait for the latest block to be updated, so as to obtain the latest location information of other drone nodes recorded in the latest block, and the corresponding obstacle locations, and then use the smart contract for obstacle avoidance tasks to complete the obstacle avoidance tasks, and wait for the block to be updated before confirming the smart contract; The smart contract for the obstacle avoidance task includes: when encountering an obstacle of a set size, the drone avoids the obstacle in a set manner.

8. The method for decentralized autonomous decision-making of drone swarm network according to claim 5, characterized in that: For coordinated attack tasks, the drone nodes in the network need to accurately reach a consensus on the target's location information across the entire network, and need to obtain the locations of other drone nodes in real time, so as to use the smart contract for coordinated attack tasks to determine the drone nodes involved in the coordinated attack tasks; the drone nodes in the network need to wait for the latest block to be updated, so as to obtain the latest location information of other drone nodes recorded in the latest block, as well as the location information of the consensus target, and then use the smart contract for coordinated attack tasks to complete the coordinated attack tasks, and wait for the block to be updated before confirming the smart contract; The intelligent collaboration for the coordinated attack mission includes: drone nodes that perform the mission, and a collaboration method.

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