Unmanned aerial vehicle cluster identity verification method and password system based on block chain consensus

Abstract

The invention relates to the technical field of block chain networks, in particular to an unmanned aerial vehicle cluster identity verification method and password system based on block chain consensus, all unmanned aerial vehicle nodes participating in activities are connected through a p2p network, and an unmanned aerial vehicle cluster is formed; each unmanned aerial vehicle in the unmanned aerial vehicle cluster regularly sends a heartbeat packet to the transaction pool, and the heartbeat packet is packaged to the block chain after being verified by a consensus algorithm; the unmanned aerial vehicles in the cluster identify a certain outlier unmanned aerial vehicle before the next period through heartbeat packets received regularly; and the outlier unmanned aerial vehicle performs identity verification by calculating a proof value proof maintained in the cluster. Through an identity verification mechanism based on the block chain, transparency and non-tampering of the identity information of the unmanned aerial vehicle are ensured, and the risk of identity counterfeiting is reduced. By means of the characteristics of the block chain, all identity authentication and joining events are recorded in real time, it is ensured that the joining history of the unmanned aerial vehicle is traceable, and the transparency and safety of cluster management are enhanced.

Description

Technical Field

[0001] The present invention relates to the field of blockchain network technology, and in particular to a drone cluster identity authentication method and a cryptographic system based on blockchain consensus. Background Art

[0002] Drone swarm technology refers to the efficient execution of complex tasks through the collaborative work of multiple drones. This technology has shown broad application prospects in fields such as agriculture, logistics and disaster relief. Drone swarms can improve operational efficiency and flexibility through information sharing and task allocation. However, in complex environments, drones may be separated from the swarm due to failures, communication interruptions or malicious attacks, resulting in a decrease in overall mission efficiency and increased security risks. The return of stray drones is an important challenge in drone swarm management. After a drone leaves the swarm, how to effectively evaluate the feasibility of its return to the team and ensure its safe return is the key to improving the overall combat capability of drone swarms.

[0003] Current solutions rely on centralized control systems, which are susceptible to single point failures and potential safety hazards, resulting in significant security risks in the process of stray drones returning to the group. In particular, for drones that have been away from the group for a long time, the lack of an effective identity authentication mechanism makes it easy for them to rejoin the group. In this process, attackers may exploit the vulnerability of drones during their absence to forge identities or engage in malicious behavior, seriously threatening the security of the group. In addition, failures or attacks on central control nodes will seriously affect the communication and coordination capabilities of the system, further increasing the risk of stray drones being manipulated or attacked. Therefore, drone systems that rely on centralized control lack effective security guarantees when dealing with the problem of being away from the group, and there is an urgent need to explore decentralized solutions to ensure the security of drone identity authentication and the process of returning to the group. Summary of the invention

[0004] The purpose of the present invention is to provide a drone cluster identity authentication method and cryptographic system based on blockchain consensus, which solves the problem that drone systems that rely on centralized control lack effective security guarantees when dealing with outlier problems.

[0005] To achieve the above object, the present invention provides a drone cluster identity authentication method based on blockchain consensus, comprising the following steps:

[0006] Before all drones perform their missions, all participating drone nodes are connected through a p2p network to form a drone cluster;

[0007] When a drone performs a mission, each drone in the drone cluster periodically sends a heartbeat packet to the transaction pool. After each consensus cycle, it is packaged together on the blockchain after being verified by the consensus algorithm.

[0008] The drones in the cluster can identify a stray drone before the next cycle through the heartbeat packets they receive regularly;

[0009] The out-of-swarm drone authenticates itself by calculating the proof value maintained in the cluster, and can only re-enter the cluster if the correct proof value is provided.

[0010] The out-of-group drone performs identity authentication by calculating the proof value maintained in the cluster, and the steps further include:

[0011] A blockchain is maintained inside the drone cluster. On the blockchain, a proof value is generated through a mask.

[0012] Drones outside the cluster rely on blockchain for consensus. Each out-of-group drone carries a copy of part of the blockchain in the original network, and the information carried by out-of-group drones at different stages varies.

[0013] The outlier drone obtains the height of the last block from its own blockchain copy π, and performs a bitwise AND operation on the hash value and mask of each block in the copy to obtain an intermediate value. The outlier drone obtains the timestamp of the last block from the blockchain copy π, and calculates the time difference based on the current time, and then calculates the number of consensus cycles missed since leaving the network based on the time required for each consensus cycle. Based on the number of consensus cycles calculated, the number of bits of the string to be guessed is determined. The outlier drone guesses the string based on the number of bits of the string, and combines the guessed result with the previous intermediate value to obtain ω', and then performs a hash operation to generate a password proof′ for submission to the drone node A in the network;

[0014] Node A in the cluster determines whether the outlier drone is eligible to return to the cluster by comparing the consistency of the proof maintained in the cluster with the proof′ submitted by the outlier drone.

[0015] After the out-of-group drone authenticates its identity by computing the proof value maintained in the cluster, the steps further include:

[0016] After UAV A in the cluster confirms that the identity of the outlier is valid, it constructs and broadcasts a message containing the Outlier's identity information. Other nodes receive the message and update the status to "entering the cluster". The network records the joining event and generates an unalterable transaction record on the blockchain. The Outlier receives the confirmation notification and officially becomes a member of the cluster and can participate in subsequent activities.

[0017] After the out-of-group drone authenticates its identity by computing the proof value maintained in the cluster, the steps further include:

[0018] Drone A in the cluster confirms that the identity of the outlier drone is invalid, and regards the node Outlier as a drone that has been out of the group for too long and chooses to ignore it. The node Outlier can still continue to try to connect with other nodes and submit its newly generated password, making multiple attempts until it succeeds or decides to give up temporarily.

[0019] After the out-of-group drone authenticates its identity by computing the proof value maintained in the cluster, the steps further include:

[0020] If a stray drone does not rejoin the cluster within the set time period, the command center will recover the drone and check whether there is a system failure or enemy invasion. After confirmation, the command center will decide the next mission for the drone.

[0021] Among them, when the drone performs a task, each drone in the drone cluster regularly sends a heartbeat packet to the transaction pool. After each consensus cycle ends, it is packaged together on the blockchain after verification by the consensus algorithm. The steps also include:

[0022] The heartbeat packet includes the current drone position, battery level, speed, sensor status, and mission status.

[0023] The drone cluster cryptographic system based on blockchain consensus is applied to the drone cluster identity authentication method based on blockchain consensus.

[0024] The present invention discloses a drone cluster identity authentication method and cryptographic system based on blockchain consensus. Before all drones perform tasks, all drone nodes participating in the activity are connected through a p2p network to form a drone cluster. The members of the drone cluster are fixed when performing tasks, and each drone has its own unique identifier information. This ensures that the drone cluster does not receive new drones from the outside to join the cluster when the task is performed, and prevents the adversary's invading drones from entering the cluster to steal internal information or disrupt the normal activities of the drones in the cluster. When the drone performs a task, each drone in the drone cluster can periodically send a heartbeat packet containing its current status information, such as position, power, speed, sensor status, and task status. This information will be put into the transaction pool, and after each consensus cycle ends, it will be packaged together on the blockchain after being verified by the consensus algorithm. When a drone in the cluster temporarily leaves the group, the drone in the cluster can identify that a drone is no longer in the cluster before the next cycle through the heartbeat packets received regularly. For the out-of-group drone, it will not be able to perform related activities in the cluster after leaving the group. If an outlier drone temporarily leaves the cluster due to weak signal or other reasons, it will authenticate its identity by calculating the proof value maintained in the cluster. Only by providing the correct proof value can it re-enter the cluster. When the drone in the cluster verifies the outlier drone, the steps include: after drone A in the cluster confirms that the Outlier identity is valid, it builds and broadcasts a message containing the Outlier identity information; other nodes receive the message and update the status to "enter the cluster"; the network records the joining event and generates an unalterable transaction record on the blockchain; finally, the Outlier receives the confirmation notification, officially becomes a member of the cluster and can participate in subsequent activities. Through the blockchain-based identity authentication mechanism, the transparency and unalterability of the drone identity information are ensured, reducing the risk of identity forgery. Outliers can flexibly infer proof' and re-enter the cluster based on the blockchain copy information they carry, enhancing the adaptability of the drone group in a dynamic environment. By dividing the time of outliers, drones that leave the group earlier are relatively easy to return to the group, optimizing the recovery ability of the cluster and improving the overall task execution efficiency. With the characteristics of blockchain, all identity authentication and joining events are recorded in real time, ensuring that the joining history of drones can be traced, and enhancing the transparency and security of cluster management. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0026] Figure 1 This is a schematic diagram of the blockchain consensus-based drone cluster cryptographic system of the present invention.

[0027] Figure 2 A schematic diagram of the possibility judgment of the UAV regression cluster of the present invention.

[0028] Figure 3 This is a flowchart of the steps of the drone cluster identity authentication method based on blockchain consensus of the present invention. DETAILED DESCRIPTION

[0029] Embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, but should not be construed as limiting the present invention.

[0030] The first embodiment of the present application is:

[0031] See also Figures 1 to 3 ,in, Figure 1 This is a schematic diagram of the blockchain consensus-based drone cluster cryptographic system of the present invention. Figure 2 A schematic diagram of the possibility judgment of the UAV regression cluster of the present invention. Figure 3 This is a flowchart of the steps of the drone cluster identity authentication method based on blockchain consensus of the present invention.

[0032] The present invention provides a drone cluster identity authentication method based on blockchain consensus, comprising the following steps:

[0033] S101: Before all drones perform their tasks, all participating drone nodes are connected through a p2p network to form a drone cluster;

[0034] Specifically, before all drones perform a mission, all participating drone nodes are connected through a p2p network to form a drone cluster. The members of the drone cluster are fixed when performing a mission, and each drone has its own unique identifier information. This ensures that the drone cluster does not accept new drones joining the cluster when the mission is performed, preventing the adversary's intrusion drones from entering the cluster to steal internal information or disrupt the normal activities of the drones in the cluster.

[0035] S102: When the drone is performing a mission, each drone in the drone cluster periodically sends a heartbeat packet to the transaction pool. After each consensus cycle, it is packaged together on the blockchain after being verified by the consensus algorithm.

[0036] Specifically, when a drone performs a mission, each drone in the drone cluster can periodically send a heartbeat packet containing its current status information, such as location, power, speed, sensor status, and mission status. This information will be put into the transaction pool, and after each consensus cycle, it will be packaged together on the blockchain after verification by the consensus algorithm.

[0037] S103: The drones in the cluster identify a certain outlier drone before the next cycle through the heartbeat packets received regularly;

[0038] Specifically, when a drone in a cluster temporarily leaves the cluster, the drones in the cluster can identify that a drone is no longer in the cluster before the next cycle through the heartbeat packets received regularly. For the drone that leaves the cluster, it will not be able to perform related activities in the cluster after leaving the cluster.

[0039] S104: The out-of-group drone authenticates itself by calculating the proof value maintained in the cluster. Only by providing the correct proof value can it re-enter the cluster.

[0040] Specifically, in step 1, a blockchain is maintained inside the drone cluster. On the blockchain, the cryptographic system uses the specific algorithm "Masked Proof Algorithm (MPA)" designed by the present invention to generate a proof value proof through a mask mask. Only when the outlier drone provides the correct proof value can it obtain the qualification to rejoin the original drone cluster. In the present invention, the mask mask represents the mask of the last N hexadecimal strings. The definition and generation process of the mask are as follows:

[0041]

[0042] Where N is the difficulty coefficient for determining whether the drone will rejoin the cluster. The value of the mask will increase as N increases. Assume that after the nth round of consensus, there are n blocks on the blockchain, and the corresponding block hashes of these blocks are: H(b1), H(b2), …, H(b n ), the hash value of each block and the mask are bitwise ANDed to obtain the intermediate value r i :

[0043] r i =H(b i )&mask(i=1,2,…,n)

[0044] All r i The results are concatenated together to generate a new string ω, which is an important component of the proof value proof:

[0045] ω=r1||r2||…||r n

[0046] Finally, hash the concatenated result ω to get the final proof value proof:

[0047] proof=H(ω)

[0048] Combining the above steps, the whole process of generating proof value by a specific MPA algorithm can be expressed by the following formula:

[0049] proof=H{[(b1)&mask]||[(b2)&mask]||…||[(b n )&mask]}

[0050] In the blockchain consensus-based drone cryptographic system proposed in this patent, blockchain technology ensures the security and dynamism of the system by adding new blocks after each consensus cycle. Specifically, as the consensus cycle progresses, the parameter ω value in the system continues to change. This mechanism effectively realizes the regular update of the password, ensuring that the system will automatically change the password proof after each consensus cycle.

[0051] Step 2: Drones outside the cluster can rely on blockchain to reach consensus. Each drone that leaves the cluster carries a copy of part of the blockchain π in the original network. The information carried by drones that leave the cluster at different stages is different. The blockchain copy π carried by drones that leave the cluster later contains more block information. Drones that have been out of the cluster for a short time can infer proof in a short time based on enough block hashes in their own blockchain copy π and then make simple guesses, so as to re-enter the cluster through verification.

[0052] As drones that have been away from the group for a long time lack sufficient block information in their replica π, the less block information in the blockchain replica π they carry, the more difficult it is for them to generate the correct proof value. Each increase in time period will make it exponentially more difficult for the drones that have left the group to return. Therefore, drones that have left the group later are usually easier to return to the group than drones that left the group earlier. This phenomenon indirectly affects the possibility of returning to the group in the time dimension. The difficulty of returning to the group can be expressed by the following function:

[0053] D(N,t)=N·e t

[0054] This function consists of two parameters: the first parameter N is the difficulty coefficient mentioned in step 1, which is used to evaluate the difficulty of the drone rejoining the cluster; the second parameter t represents the time after the drone leaves the cluster. The rejoining difficulty function shows that as time goes by, the difficulty of the out-of-swarm drone returning to the group will increase exponentially, thus affecting its possibility of returning to the group. Among them, the possibility of returning to the group can be represented by the following function:

[0055]

[0056] As the difficulty increases, the likelihood of returning to the team will decrease exponentially.

[0057] Step 3: The outlier drone will try to return to the cluster. It obtains the height H of the last block from its own blockchain copy π. Then, the outlier drone performs a bitwise AND operation on the hash value and mask of each block in the copy to obtain the intermediate value r j ′:

[0058] r' j =H(b j )&mask(j=1,2,…,H)

[0059] The outlier drone obtains the timestamp λ of the last block β from the blockchain replica π and calculates the timestamp λ according to the current time T current Calculate the time difference ΔT, where ΔT = T current –λ. Then, combined with the time τ required for each consensus cycle, the number of consensus cycles missed since leaving the network is calculated as ρ, where Based on the calculated consensus cycle number ρ, the number of bits of the string to be guessed δ is determined. The outlier drone guesses the string based on δ and compares the guessed result with the previous intermediate value r j ′ is combined to get ω', which is then hashed to generate a password proof ′ for submission to drone node A in the network:

[0060] proof′=H(ω′)

[0061] Node A in the cluster will determine whether the out-of-group drone is eligible to return to the cluster by comparing the consistency of the proof maintained in the cluster with the proof′ submitted by the out-of-group drone.

[0062] To further explain, step 2 involves the following: Outlier drones usually appear in three forms, corresponding to different difficulties of rejoining, marked as Outlier_1, Outlier_2 and Outlier_3, and the difficulty of rejoining is determined by the length of time away from the group. Assume that Outlier_1 has a short time away from the group and leaves the cluster after the nth consensus cycle, and the blockchain copy it carries retains all blocks before the nth consensus cycle. In this case, Outlier_1 only needs to guess a two-bit string and merge it with the hash of the n-1th block in the copy, and obtain the final guess result through hash operation, so its difficulty of rejoining is relatively low.

[0063] In contrast, Outlier_2’s out-of-group time is one cycle longer than Outlier_1, and its rejoining difficulty is moderate. It needs to guess a four-digit string and combine it with the hash of the n-1th block in the replica to perform a hash operation to obtain the guessed result. It can be seen that the guessing difficulty of the outlier drone increases exponentially with the increase of out-of-group time.

[0064] For Outlier_3, which has been out of the group for a very long time, it is difficult to return to the group. Since the blockchain copy it carries only retains very little block information, it needs to guess a longer string to obtain the information within the cluster. Obviously, Outlier_2 has a higher difficulty in guessing the information within the cluster than Outlier_1. For Outlier_3, which has been out of the group for a longer time and missed more consensus cycles, Outlier_2's guessing process is relatively easy, while it is almost impossible for Outlier_3 to successfully guess the information within the cluster. In detail, the out-of-group drone successfully passed the identity authentication of drone A within the group and will take the following steps:

[0065] 1. Construct an identity information message: Drone A will create a message containing the drone Outlier's identity information, which usually includes: the drone Outlier's unique identifier information Outlier_ID, the verification result VerificationResult, etc.

[0066] 2. Drone A broadcasts the message to all other nodes through the p2p network. This broadcast message contains a specific "join request" tag, which clearly indicates that the drone Outlier has been verified and allowed to join the cluster.

[0067] 3. Cluster status includes the following: 'Entered the cluster', 'To be verified', 'Verified' and 'Exited'. After receiving the broadcast from drone A, the cluster status information will be updated, and other nodes will perform the following operations: After receiving the identity information of drone Outlier, each node will update its local status information and mark drone Outlier as 'Entered the cluster' state.

[0068] 4. When the Outlier’s identity information is verified and broadcasted, the network will trigger a ‘join event’, which includes the Outlier’s identity information, joining time, verification node ID, and verification results. This information will be integrated to record the Outlier’s joining. On the blockchain, a new transaction will be generated to record the Outlier’s identity and joining time. This record cannot be tampered with, ensuring that all nodes can accurately verify the Outlier’s joining history.

[0069] 5. The drone Outlier can receive a confirmation notification from the network, indicating that it has officially become part of the cluster. At this time, it can synchronize the information on the chain and continue to participate in the cluster's tasks and activities.

[0070] In contrast, once drone A in the group confirms that the identity of the outlier drone is invalid, it will regard the node Outlier as a drone that has been out of the group for too long and choose to ignore it. However, the node Outlier can still continue to try to connect with other nodes and submit its newly generated password, such as [proof", proof"'...], and the node can make multiple attempts until it succeeds, or decide to give up temporarily.

[0071] The difficulty of guessing the password for a stray drone increases exponentially with the increase in the time away from the swarm. If a stray drone does not rejoin the swarm within a set time period, it will be difficult for the drone to return to the original drone swarm. At this time, the command center will recycle the drone and check whether there is a system failure or an enemy invasion. After checking and confirming that everything is correct, the command center will decide the next task of the drone. When the command center recycles a stray drone that failed to successfully verify entry into the swarm, it first checks whether the status of the drone is correct. The command center selects a drone with a better signal status in the swarm to request the latest blockchain copy π in the current cluster. latest The information is backed up to the out-of-group drone that rejoins the cluster, allowing it to retry to enter the original cluster within the time period set by the cluster password system.

[0072] The application of blockchain technology ensures the transparency and immutability of drone identity authentication. During the execution of a mission, blockchain can not only record and verify the identity information of a drone, but also trace the specific activity records of a drone within a specific time period. In addition, blockchain also provides a monitoring function for out-of-group drones, so that it can accurately record their return to the cluster within a certain period of time. This transparent recording mechanism improves the collaborative efficiency and safety of the drone group and provides reliable data support for subsequent mission execution.

[0073] Through the blockchain-based identity authentication mechanism, the transparency and non-tamperability of drone identity information are ensured, reducing the risk of identity forgery.

[0074] The out-of-group drones can flexibly infer proof' and rejoin the group based on the blockchain copy information they carry, which enhances the adaptability of the drone group in a dynamic environment. By dividing the time of out-of-group drones, drones that leave the group earlier are relatively easy to return to the group, which optimizes the recovery ability of the group and improves the overall task execution efficiency.

[0075] With the characteristics of blockchain, all identity authentication and joining events are recorded in real time, ensuring that the drone's joining history is traceable and enhancing the transparency of cluster management.

[0076] The second embodiment of the present application is:

[0077] Based on the first embodiment, please refer to Figure 1 ,in, Figure 1 This is a schematic diagram of the blockchain consensus-based drone cluster cryptographic system of the present invention.

[0078] The blockchain consensus-based drone cluster cryptographic system of this embodiment is applied to the blockchain consensus-based drone cluster identity authentication method.

[0079] What is disclosed above is only one or more preferred embodiments of the present application, and cannot be used to limit the scope of rights of the present application. Ordinary technicians in this field can understand that all or part of the processes of implementing the above embodiments and equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. The drone cluster identity authentication method based on blockchain consensus is characterized by: The following steps are involved: Before all drones perform their missions, all participating drone nodes are connected through a p2p network to form a drone cluster; When a drone performs a mission, each drone in the drone cluster periodically sends a heartbeat packet to the transaction pool. After each consensus cycle, it is packaged together on the blockchain after being verified by the consensus algorithm. The drones in the cluster can identify a stray drone before the next cycle through the heartbeat packets they receive regularly; The out-of-swarm drone authenticates itself by calculating the proof value maintained in the cluster, and can only re-enter the cluster if the correct proof value is provided.

2. The drone cluster identity authentication method based on blockchain consensus as claimed in claim 1, characterized in that: The out-of-group drone authenticates itself by computing the proof value maintained in the cluster, and the steps further include: A blockchain is maintained inside the drone cluster. On the blockchain, a proof value is generated through a mask. Drones outside the cluster rely on blockchain for consensus. Each out-of-group drone carries a copy of part of the blockchain in the original network, and the information carried by out-of-group drones at different stages varies. The outlier drone obtains the height of the last block from its own blockchain copy π, and performs a bitwise AND operation on the hash value and mask of each block in the copy to obtain an intermediate value. The outlier drone obtains the timestamp of the last block from the blockchain copy π, and calculates the time difference based on the current time, and then calculates the number of consensus cycles missed since leaving the network based on the time required for each consensus cycle. Based on the number of consensus cycles calculated, the number of bits of the string to be guessed is determined. The outlier drone guesses the string based on the number of bits of the string, and combines the guessed result with the previous intermediate value to obtain ω', and then performs a hash operation to generate a password proof′ for submission to the drone node A in the network; Node A in the cluster determines whether the outlier drone is eligible to return to the cluster by comparing the consistency of the proof maintained in the cluster with the proof′ submitted by the outlier drone.

3. The drone cluster identity authentication method based on blockchain consensus as claimed in claim 1, characterized in that: After the out-of-swarm drone authenticates itself by computing the proof value maintained within the cluster, the steps further include: After UAV A in the cluster confirms that the identity of the outlier is valid, it constructs and broadcasts a message containing the Outlier's identity information. Other nodes receive the message and update their status to "entering the cluster". The network records the joining event and generates an unalterable transaction record on the blockchain. The Outlier receives the confirmation notification and officially becomes a member of the cluster and can participate in subsequent activities.

4. The drone cluster identity authentication method based on blockchain consensus as claimed in claim 1, characterized in that: After the out-of-group drone authenticates itself by computing the proof value maintained in the cluster, the steps further include: Drone A in the cluster confirms that the identity of the outlier drone is invalid, and regards the node Outlier as a drone that has been out of the group for too long and chooses to ignore it. The node Outlier can still continue to try to connect with other nodes and submit its newly generated password, making multiple attempts until it succeeds or decides to give up temporarily.

5. The drone cluster identity authentication method based on blockchain consensus as claimed in claim 4, characterized in that: After the out-of-group drone authenticates itself by computing the proof value maintained in the cluster, the steps further include: If a stray drone does not rejoin the cluster within the set time period, the command center will recover the drone and check whether there is a system failure or enemy invasion. After confirmation, the command center will decide the next mission for the drone.

6. The drone cluster identity authentication method based on blockchain consensus as claimed in claim 1, characterized in that: When the drone performs a mission, each drone in the drone cluster periodically sends a heartbeat packet to the transaction pool. After each consensus cycle ends, it is packaged together on the blockchain after verification by the consensus algorithm. The steps also include: The heartbeat packet includes the current drone position, battery level, speed, sensor status, and mission status.

7. The drone cluster cryptographic system based on blockchain consensus is applied to the drone cluster identity authentication method based on blockchain consensus as described in claim 1.

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