Ad-hoc network method and system for unmanned equipment and computer program product

Abstract

The invention discloses an ad hoc network method and system for unmanned equipment and a program product. Different types of business applications run on the unmanned equipment. For each service application, a corresponding certificate is installed on the unmanned equipment; the method comprises the steps that when a networking cooperation task is executed, a discovering party unmanned device initiating the task serves as a main device to send a broadcast message, and the broadcast message carries a business application type needing cooperation and a first challenge code; according to the business application type needing collaboration, the certificate corresponding to the business application type and the first challenge code, the discovered unmanned device receiving the broadcast message is authenticated, and after the authentication is passed, the discovering unmanned device and the discovered unmanned device mark each other as credible; and selecting part of the unmanned equipment from the unmanned equipment reaching the trust consensus for networking. According to the invention, an identity authentication mechanism based on the certificate and the challenge code is adopted, the appropriate unmanned equipment can be dynamically selected for task coordination and networking, and the flexibility is greatly improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method, system and computer program product for self-organizing networking of unmanned equipment. Background Art

[0002] Device networking plays an important role and plays a great value in actual application scenarios, especially for distributed systems and IoT environments. Device networking can achieve seamless connection and communication between different devices, allowing devices in the network to share resources (such as data, computing power, storage space, etc.), work together to complete complex tasks, enhance user experience, and improve system reliability.

[0003] Device networking includes three steps: device discovery, identity authentication, and device connection:

[0004] (1) Device discovery allows a device to identify and locate other devices on the network.

[0005] (2) Identity authentication technology is used to determine the legal identity of the user.

[0006] (3) Establish a connection through identity authentication devices to form a network.

[0007] Common device discovery technologies include broadcast and multicast, which enable devices to announce their existence and obtain information about other devices through broadcast or multicast messages within the local area network.

[0008] Identity authentication requires establishing a trust relationship between devices. The methods vary in different scenarios. For example:

[0009] (1) In the IoT field, a device with a screen is required as the master control in the networking device. The user enters the PIN code (or the QR code on the body) provided by the slave device on the master control device.

[0010] (2) In the CT and IT fields, networking equipment needs to be configured through a central control unit to achieve networking.

[0011] Devices that have passed identity authentication establish a secure connection between the two parties. If a network is to be established, the above process is required between all devices.

[0012] The inventors realized that the above-mentioned existing networking process requires a clear master control device or central control. The network is highly dependent on the master control device, which is fixed and cannot be changed, and its reliability and flexibility are limited. Relying on PIN codes or QR codes on the body to network is not flexible, and the networking information needs to be configured in advance and cannot be adjusted dynamically.

[0013] In addition, the existing networking solutions are not applicable to scenarios where the equipment does not have a screen. They require human participation and have a low overall level of intelligence. Their use in unmanned equipment application scenarios is limited. Moreover, the networking speed between devices is slow, and a long waiting time is required when there are many clustered devices. Summary of the invention

[0014] The present application provides a method, system and computer program product for self-organizing networking of unmanned equipment, aiming to solve the technical problem of low flexibility in existing networking processes.

[0015] In a first aspect, a method for self-organizing an unmanned device network, wherein different types of business applications are running on the unmanned device; for each business application, a corresponding certificate is installed on the unmanned device; the method comprises:

[0016] S1, when executing a networking collaboration task, the discovery party unmanned device that initiates the task sends a broadcast message as a master device, and the broadcast message carries the service application type that needs to be collaborated and a first challenge code;

[0017] S2, authenticating the unmanned device of the discovered party that receives the broadcast message according to the business application type that needs to be coordinated, the certificate corresponding to the business application type, and the first challenge code, and after the authentication is passed, the unmanned device of the discovering party and the unmanned device of the discovered party mark each other as trusted;

[0018] S3, select some unmanned devices from the unmanned devices that have reached a trust consensus for networking.

[0019] In the above solution, optionally, the certificate is installed together with the business application when the business application is installed, or the certificate is dynamically downloaded and installed when the business application is started after installation; the certificate is protected by hardware.

[0020] In the above solution, optionally, step S2 includes:

[0021] The unmanned device on the discovered side checks whether the business application type it supports matches the business application type that needs to be coordinated;

[0022] If there is a match, the unmanned device of the discovered party uses the certificate corresponding to the business application type that needs to be coordinated, calculates based on the first challenge code, and generates a second challenge code locally; the unmanned device of the discovered party sends the calculation result obtained by calculating based on the first challenge code and the second challenge code as a response message to the unmanned device of the discovering party;

[0023] The unmanned device of the discovering party verifies whether the calculation result obtained based on the first challenge code meets the requirements;

[0024] If the match is met, the unmanned device of the discovering party performs calculation based on the second challenge code; the unmanned device of the discovering party sends the calculation result obtained by the calculation based on the second challenge code to the unmanned device of the discovered party, and marks the unmanned device of the discovered party as credible;

[0025] The unmanned device of the discovered party verifies whether a calculation result obtained by calculating based on the second challenge code is correct;

[0026] If it is correct, the unmanned device on the discovered side will mark the unmanned device on the discovered side as credible.

[0027] In the above solution, further optionally, the method further includes:

[0028] The unmanned device of the discovering party regularly publishes the locally maintained trusted device list through broadcast messages;

[0029] The unmanned device on the discovered side that receives the broadcast message updates the local trusted device list.

[0030] In the above solution, further optionally, the method further includes:

[0031] According to the order in which the unmanned devices of the discovered party reply to the response messages, the unmanned devices of the discovered party are sequentially used as backup devices of the main device;

[0032] The master device synchronizes the task execution information to the backup device and periodically sends survival messages to the backup device;

[0033] When the backup device detects a failure in the primary device, it immediately starts the primary-backup switch and informs other unmanned devices in the network.

[0034] In the above solution, optionally, step S3 includes:

[0035] The unmanned device of the discovering party sends a network resource query message to the unmanned device of the discovered party that has reached a trust consensus;

[0036] The unmanned device on the discovered side that has reached a trust consensus sends a networking resource report message to the unmanned device on the discovering side;

[0037] The unmanned device of the discovering party selects a device from the unmanned devices of the discovered party that have reached a trust consensus according to the task resource budget, and sends a networking notification message to the selected unmanned device of the discovered party;

[0038] The discovering unmanned device establishes a network connection with the selected discovered unmanned device.

[0039] In the above solution, optionally, the method further includes:

[0040] When the networking collaboration task is completed, the master device initiates a network disbanding broadcast message for the current business application;

[0041] The unmanned device that receives the network disbanding broadcast message disconnects the existing network connection.

[0042] In a second aspect, an unmanned device self-organizing network system, wherein different types of business applications are running on the unmanned device; for each business application, a corresponding certificate is installed on the unmanned device; the system comprises:

[0043] A broadcast message sending module, used for, when executing a networking collaboration task, the unmanned device that initiates the task as the master device sends a broadcast message, wherein the broadcast message carries the type of service application that needs to be collaborated and a first challenge code;

[0044] A trusted device marking module is used to authenticate the unmanned device of the discovered party that receives the broadcast message according to the business application type that needs to be coordinated, the certificate corresponding to the business application type, and the first challenge code. After the authentication is passed, the unmanned device of the discovering party and the unmanned device of the discovered party mark each other as trusted;

[0045] The networking module is used to select some unmanned devices for networking from the unmanned devices that have reached a trust consensus.

[0046] In a third aspect, a computer program product comprises a computer program / instruction, wherein the computer program / instruction implements the steps of the method described in the first aspect when executed by a processor.

[0047] Compared with the prior art, this application has at least the following beneficial effects:

[0048] In the method provided in the embodiment of the present application, there is no fixed master control device or central control unit. Instead, an identity authentication mechanism based on certificates and challenge codes is adopted between devices. Without human intervention, it can dynamically select suitable unmanned devices for task collaboration and networking. In the process of device discovery and authentication, it automatically determines which unmanned devices can participate in the networking. There is no need to set up a fixed master control device, which improves flexibility. When performing a task, the device will automatically initiate a discovery request and verify each other's identity through an authentication mechanism to ensure that only trusted devices can join the network. This automated process greatly improves flexibility and does not require pre-configuration or manual input of information.

[0049] This application also proposes a master-slave switching mechanism to solve the fault tolerance problem of devices in the network. During the discovery phase, the device determines the backup device according to the response order of the challenge code; when the master device fails, the backup device can automatically take over the task to ensure the continuous operation of the entire system; therefore, the network no longer relies on a fixed master control device, but can be dynamically adjusted according to actual conditions, thereby improving the reliability and flexibility of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 A schematic diagram of a process flow of an unmanned device self-organizing network method provided by an embodiment of the present application;

[0051] Figure 2 A block diagram of the module architecture of an unmanned equipment self-organizing network system provided for one embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0053] In the description of this application: unless otherwise specified, the meaning of "plurality" is two or more. The terms "first", "second", "third", etc. in this application are intended to distinguish the objects referred to, and do not have special meanings in terms of technical connotations (for example, they should not be understood as emphasizing the importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0054] In one embodiment, a method for self-organizing an unmanned device network is provided, wherein different types of business applications are run on the unmanned device; for each business application, a corresponding certificate is installed on the unmanned device. Specifically, the certificate is installed with the business application when the business application is installed, or the certificate is dynamically downloaded and installed when the business application is started after installation; the certificate is protected by hardware.

[0055] In other words, certificates are issued based on business applications. Different types of business applications will run on unmanned devices. If business applications on different devices need to work together, they will be authenticated through business certificates. The certificate is installed together with the application or dynamically downloaded and installed when the application is started, and is protected by hardware.

[0056] When storing and using certificates, their security can be enhanced through hardware security modules (HSM, Hardware Security Module) or protected hardware components (such as TPM, Trusted Platform Module). Hardware protection ensures that the private key of the certificate (especially when performing encryption or signing operations) is not exposed to the operating system or application, and cannot be accessed by malware or unauthorized users.

[0057] That is, the private key of the certificate is not stored in the normal file system or memory, but is saved in a protected hardware module (such as HSM or TPM). In this way, even if an attacker has access to the device's operating system or application, he or she cannot obtain the private key. HSM or TPM provides physical security protection to prevent physical tampering and cracking, ensuring that the private key cannot be extracted or leaked.

[0058] like Figure 1 As shown, the method specifically comprises the following steps:

[0059] S1, when executing a networking collaboration task, the discovery party unmanned device that initiates the task sends a broadcast message as the main device, and the broadcast message carries the business application type that needs to be collaborated and the first challenge code.

[0060] S2, based on the business application type that needs to be coordinated, the certificate corresponding to the business application type and the first challenge code, authenticate the unmanned device of the discovered party that receives the broadcast message. After the authentication is passed, the unmanned device of the discovering party and the unmanned device of the discovered party mark each other as trusted.

[0061] Further, step S2 includes:

[0062] The unmanned device on the discovered side checks whether the business application type it supports matches the business application type that needs to be coordinated;

[0063] If there is a match, the unmanned device of the discovered party uses the certificate corresponding to the business application type that needs to be coordinated, calculates based on the first challenge code, and generates a second challenge code locally; the unmanned device of the discovered party sends the calculation result and the second challenge code obtained by calculating based on the first challenge code as a response message to the unmanned device of the discovered party;

[0064] The unmanned device of the discovering party verifies whether the calculation result obtained based on the first challenge code meets the requirements;

[0065] If the match is met, the unmanned device of the discovering party performs calculation based on the second challenge code; the unmanned device of the discovering party sends the calculation result obtained by the calculation based on the second challenge code to the unmanned device of the discovered party, and marks the unmanned device of the discovered party as credible;

[0066] The unmanned device of the discovered party verifies whether the calculation result obtained based on the second challenge code is correct;

[0067] If it is correct, the unmanned device on the discovered side will mark the unmanned device on the discovered side as credible.

[0068] Furthermore, the method further comprises:

[0069] The unmanned device of the discovering party regularly publishes the locally maintained trusted device list through broadcast messages;

[0070] The unmanned device on the discovered side that receives the broadcast message updates the local trusted device list.

[0071] In other words, step S2 realizes device service discovery and authentication. When an unmanned device is performing a task, if it hopes to obtain the cooperation of surrounding devices, it goes through the following process:

[0072] Step 1: The device that initiates the task automatically becomes the master device and sends a broadcast message (discovery request), which carries the business application type and challenge code that need to be coordinated.

[0073] When the master device broadcasts a message, the challenge code it carries can be a randomly generated value (called a Challenge code). The purpose of the Challenge code is mainly to verify the identity of the device and prevent replay attacks.

[0074] Step 2: Devices around you that receive the broadcast message:

[0075] Check whether the service type you support matches the service application type you requested;

[0076] The challenge code is calculated using the certificate corresponding to the requested service type, and the calculation result and the locally generated challenge code are sent to the requester as a response message (discoveryresponse).

[0077] In other words, after receiving the challenge code, the device that receives the broadcast message will use the certificate on the device and a certain algorithm to calculate the response. For example, the device can use the private key or shared key in the business application certificate stored in itself to encrypt or hash the challenge code.

[0078] Step 3: After receiving the response message, the device discoverer first verifies whether the calculation result of its own challenge code meets the requirements. If it does, it performs specific calculations based on the challenge code of the discovered device, sends the calculation result to the discovered party (discovery ack), and marks the discovered party as trustworthy.

[0079] For example, after receiving the response message from the target device, the initiator device can use the corresponding public key or private key to verify the result returned by the target device. If the calculation result is correct, it means that the target device does have the certificate and can correctly calculate the challenge code, thereby establishing trust.

[0080] The specific calculation based on the challenge code of the discovered device can be based on a certain algorithm (such as a hash algorithm, a symmetric encryption algorithm, etc.). The specific calculation may include the following steps:

[0081] (1) Verify the challenge code of the discoverer: First, the device discoverer verifies the challenge code of the discovered device according to its preset algorithm (such as SHA-256 hash) to confirm whether the challenge code is consistent with the expected result.

[0082] (2) Generate a new challenge code: If the discoverer passes the verification, a new challenge code can be generated based on a certain key (such as using a public-private key pair). The challenge code is generated by encrypting the device's identity information and the shared session key.

[0083] (3) Challenge code encryption: For example, the discoverer uses a symmetric encryption method (such as AES) to encrypt the generated challenge code and then sends it to the discovered party. After receiving the encrypted challenge code, the discovered party uses the shared key to decrypt it and verify its correctness.

[0084] This step can be done by creating a temporary session key to encrypt and decrypt the challenge code. The specific process is as follows:

[0085] Session key generation: Once the device is discovered successfully, the two parties can negotiate a session key (which can be generated through the Diffie-Hellman key exchange protocol, elliptic curve cryptography, etc.);

[0086] Challenge code encryption and exchange: Based on the session key, the challenge code is encrypted and exchanged through a secure channel. Only when both parties have the same session key can the encrypted challenge code be correctly decrypted and verified to ensure that the communication between devices is trustworthy.

[0087] In other words, the challenge code calculation adopts a two-way authentication method:

[0088] (1) The device discoverer initiates a challenge: The device discoverer sends a request containing a challenge code to the discovered device.

[0089] (2) The discovered device responds to the challenge: The discovered device generates a challenge code based on certain security protocols, performs a hash operation, and then sends the code back to the discoverer.

[0090] (3) Verification process: After receiving the response challenge code from the discovered device, the device discoverer performs verification again and returns the verification result to the discovered device.

[0091] It can ensure that the challenge code exchange process between devices is safe and reliable, and effectively perform identity authentication and trust establishment, ensuring secure communication and collaborative work between devices.

[0092] Step 4: The discovered party checks the calculation result of the challenge code in the ack message. If it is correct, the discovered party is marked as credible.

[0093] Step 5: The device discoverer regularly publishes the locally maintained trusted device list (discoverynotify) through broadcast messages, and the receiving device updates the local trusted device list, so that all devices participating in the collaboration reach a trust consensus. All trust consensus is based on specific services.

[0094] S3, select some unmanned devices from the unmanned devices that have reached a trust consensus for networking.

[0095] Further, step S3 includes:

[0096] The unmanned device of the discovering party sends a network resource query message to the unmanned device of the discovered party that has reached a trust consensus;

[0097] The unmanned device on the discovered side that has reached a trust consensus sends a networking resource report message to the unmanned device on the discovering side;

[0098] The unmanned device of the discovering party selects a device from the unmanned devices of the discovered party that have reached a trust consensus according to the task resource budget, and sends a networking notification message to the selected unmanned device of the discovered party;

[0099] The discovering unmanned device establishes a network connection with the selected discovered unmanned device.

[0100] In other words, this step realizes device networking, and selects some devices from the devices that have reached a trust consensus for networking. The selection conditions include:

[0101] (1) Whether to allow multiple services to share equipment

[0102] (2) Average resource utilization of equipment

[0103] Step 1: The master device sends a network resource query message;

[0104] Step 2: Send a network resource report message from the device;

[0105] Step 3: The master device selects a device with abundant resources according to the task resource budget and sends a groupnotify message;

[0106] Step 4: All devices participating in the networking establish network connections.

[0107] Furthermore, the method further comprises:

[0108] According to the order in which the unmanned devices of the discovered party reply to the response messages, the unmanned devices of the discovered party are sequentially used as backup devices of the main device;

[0109] The master device synchronizes the task execution information to the backup device and periodically sends survival messages to the backup device;

[0110] When the backup device detects a failure in the primary device, it immediately starts the primary-backup switch and informs other unmanned devices in the network.

[0111] In other words, this step implements the master-slave switching: the slave devices act as backups of the master device in turn according to the order in which the response messages are replied in the device discovery phase; the master device synchronizes the task execution information to the backup device and periodically sends survival messages to the backup device. When the backup device detects a failure in the master device, it immediately starts the master-slave switching and informs other devices in the network.

[0112] Furthermore, the method further comprises:

[0113] When the networking collaboration task is completed, the master device initiates a network disbanding broadcast message for the current business application;

[0114] The unmanned device that receives the network disbanding broadcast message disconnects the existing network connection.

[0115] In other words, this step realizes network dissolution: when the networking collaboration task is completed, the master device initiates a network dissolution broadcast message for the current business application, and the device that receives the message disconnects the existing networking connection.

[0116] The embodiments of the present application provide an identity authentication mechanism based on certificates and specific algorithms, an automated method for device discovery, authentication, networking, and network dissolution, and a method for master-slave switching in a self-organizing network.

[0117] In the method provided in the embodiment of the present application, there is no fixed master control device or central control unit. Instead, the devices dynamically select appropriate devices for task collaboration and networking through a mutually trusted discovery and authentication mechanism. The devices automatically determine which devices can participate in the networking during the device discovery and authentication process through identity authentication and trust establishment (authentication mechanism based on certificates and specific algorithms). In this way, even if some devices fail or fail, the system can flexibly select other devices to continue to perform tasks.

[0118] This application also proposes a master-slave switching mechanism to solve the fault tolerance problem of devices in the network. During the discovery phase, the device determines the backup device according to the response order of the challenge code. When the main device fails, the backup device can automatically take over the task to ensure the continuous operation of the entire system. Therefore, the network no longer relies on a fixed master control device, but can be dynamically adjusted according to actual conditions, improving the reliability and flexibility of the system.

[0119] Traditional device networking usually relies on PIN codes, QR codes or pre-configured network information. These methods have poor flexibility, lack of dynamics in the networking process, and often require manual intervention, and cannot adapt well to unmanned equipment and intelligent scenarios.

[0120] This solution uses a certificate-based authentication mechanism, combined with an automated device discovery and authentication process, without the need for manual intervention. Devices automatically initiate discovery requests when performing tasks and verify each other's identities through the authentication mechanism, ensuring that only trusted devices can join the network. This automated process greatly improves flexibility and does not require pre-configuration or manual input of information.

[0121] Different from the traditional PIN code or QR code method, the networking information of this solution is dynamically generated and adjusted. When the device is performing a task, it selects the appropriate collaborative device in real time according to the current application requirements and device resource status. Through the "resource query" and "resource report" mechanisms, the device can dynamically evaluate and select resource-rich devices to participate in the network according to task requirements. This dynamic networking method greatly enhances the flexibility and adaptability of the system.

[0122] During the discovery and authentication process, devices exchange and calculate challenge codes to form a trust consensus based on specific services. The trust consensus mechanism ensures the reliability between devices, and this trust establishment is done automatically, reducing the need for manual intervention. The trust relationship between devices can be continuously adjusted as the task progresses, further enhancing the flexibility of the network.

[0123] The present invention effectively solves the problems of relying on master control devices, fixed network structure, lack of flexibility and dynamic adjustment in traditional networking solutions through decentralized self-organizing network mechanism, dynamic certificate authentication, automated device discovery and authentication, master-slave switching mechanism, and flexible task resource management. Specifically:

[0124] (1) Decentralization: There is no fixed master control device. Devices spontaneously form a collaborative network through trust and authentication mechanisms, which improves the reliability and flexibility of the system.

[0125] (2) Dynamic Adaptation: Resource query and reporting mechanisms between devices enable the network to dynamically adjust according to real-time needs without relying on static configuration.

[0126] (3) Intelligence and automation: Automatic discovery, authentication, trust establishment, and device switching reduce manual intervention, improve the intelligence level of the system, and are suitable for automation scenarios of unmanned equipment.

[0127] In one embodiment, Figure 2As shown, an unmanned device self-organizing network system is provided, and different types of business applications are running on the unmanned devices; for each business application, a corresponding certificate is installed on the unmanned device; the system includes the following program modules:

[0128] The broadcast message sending module 201 is used for sending a broadcast message as a master device when executing a networking collaboration task. The broadcast message carries the service application type and the first challenge code that need to be collaborated.

[0129] The trusted device marking module 202 is used to authenticate the unmanned device of the discovered party that receives the broadcast message according to the business application type that needs to be coordinated, the certificate corresponding to the business application type, and the first challenge code. After the authentication is passed, the unmanned device of the discovered party and the unmanned device of the discovered party mark each other as trusted;

[0130] The networking module 203 is used to select some unmanned devices from the unmanned devices that have reached a trust consensus for networking.

[0131] The specific implementation content of each module can be found in the above definition of a method for self-organizing networking of unmanned equipment, which will not be repeated here.

[0132] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which involves all or part of the processes in the above-mentioned embodiment method.

[0133] In one embodiment, a computer program product is also provided, including a computer program / instruction, which implements all or part of the process in the above-mentioned embodiment method when executed by a processor.

[0134] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

Claims

1. A method for self-organizing a network of unmanned devices, characterized in that: Different types of business applications are running on the unmanned device; for each business application, a corresponding certificate is installed on the unmanned device; the method includes: S1, when executing a networking collaboration task, the discovery party unmanned device that initiates the task sends a broadcast message as a master device, and the broadcast message carries the service application type that needs to be collaborated and a first challenge code; S2, authenticating the unmanned device of the discovered party that receives the broadcast message according to the business application type that needs to be coordinated, the certificate corresponding to the business application type, and the first challenge code, and after the authentication is passed, the unmanned device of the discovering party and the unmanned device of the discovered party mark each other as trusted; S3, select some unmanned devices from the unmanned devices that have reached a trust consensus for networking.

2. The unmanned equipment self-organizing network method according to claim 1, characterized in that: The certificate is installed along with the business application when the business application is installed, or dynamically downloaded and installed when the business application is started after installation; the certificate is protected by hardware.

3. The unmanned equipment self-organizing network method according to claim 1, characterized in that: Step S2 includes: The unmanned device on the discovered side checks whether the business application type it supports matches the business application type that needs to be coordinated; If there is a match, the unmanned device of the discovered party uses the certificate corresponding to the business application type that needs to be coordinated, calculates based on the first challenge code, and generates a second challenge code locally; the unmanned device of the discovered party sends the calculation result obtained by calculating based on the first challenge code and the second challenge code as a response message to the unmanned device of the discovering party; The unmanned device of the discovering party verifies whether the calculation result obtained based on the first challenge code meets the requirements; If the match is met, the unmanned device of the discovering party performs calculation based on the second challenge code; the unmanned device of the discovering party sends the calculation result obtained by the calculation based on the second challenge code to the unmanned device of the discovered party, and marks the unmanned device of the discovered party as credible; The unmanned device of the discovered party verifies whether a calculation result obtained by calculating based on the second challenge code is correct; If it is correct, the unmanned device on the discovered side will mark the unmanned device on the discovered side as credible.

4. The unmanned equipment self-organizing network method according to claim 3, characterized in that: The method further comprises: The unmanned device of the discovering party regularly publishes the locally maintained trusted device list through broadcast messages; The unmanned device on the discovered side that receives the broadcast message updates the local trusted device list.

5. The unmanned equipment self-organizing network method according to claim 3, characterized in that: The method further comprises: According to the order in which the unmanned devices of the discovered party reply to the response messages, the unmanned devices of the discovered party are sequentially used as backup devices of the main device; The master device synchronizes the task execution information to the backup device and periodically sends survival messages to the backup device; When the backup device detects a failure in the primary device, it immediately starts the primary-backup switch and informs other unmanned devices in the network.

6. The unmanned equipment self-organizing network method according to claim 1, characterized in that: Step S3 includes: The unmanned device of the discovering party sends a network resource query message to the unmanned device of the discovered party that has reached a trust consensus; The unmanned device on the discovered side that has reached a trust consensus sends a networking resource report message to the unmanned device on the discovering side; The unmanned device of the discovering party selects a device from the unmanned devices of the discovered party that have reached a trust consensus according to the task resource budget, and sends a networking notification message to the selected unmanned device of the discovered party; The discovering unmanned device establishes a network connection with the selected discovered unmanned device.

7. The unmanned equipment self-organizing network method according to claim 1, characterized in that: The method further comprises: When the networking collaboration task is completed, the master device initiates a network disbanding broadcast message for the current business application; The unmanned device that receives the network disbanding broadcast message disconnects the existing network connection.

8. An unmanned equipment self-organizing network system, characterized in that: Different types of business applications are running on the unmanned device; for each business application, a corresponding certificate is installed on the unmanned device; the system includes: A broadcast message sending module, used for, when executing a networking collaboration task, the unmanned device that initiates the task as the master device sends a broadcast message, wherein the broadcast message carries the type of service application that needs to be collaborated and a first challenge code; A trusted device marking module is used to authenticate the unmanned device of the discovered party that receives the broadcast message according to the business application type that needs to be coordinated, the certificate corresponding to the business application type, and the first challenge code. After the authentication is passed, the unmanned device of the discovering party and the unmanned device of the discovered party mark each other as trusted; The networking module is used to select some unmanned devices for networking from the unmanned devices that have reached a trust consensus.

9. A computer program product comprising a computer program / instructions, characterized in that The computer program / instructions implement the steps of the method as claimed in claim 1 when executed by a processor.

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