UAV swarm authentication method and cryptographic system based on blockchain consensus

Abstract

The present invention relates to the field of blockchain network technology, and more specifically to a blockchain-consensus-based drone cluster identity authentication method and cryptographic system. All participating drone nodes are connected via a peer-to-peer (P2P) network to form a drone cluster. Each drone in the cluster periodically sends a heartbeat packet to a transaction pool, which is then packaged together on a blockchain after verification by a consensus algorithm. Drones within the cluster use periodically received heartbeat packets to identify stray drones before the next cycle. Stray drones perform identity authentication by calculating a proof value maintained within the cluster. Through a blockchain-based identity authentication mechanism, the transparency and immutability of drone identity information are ensured, reducing the risk of identity forgery. Leveraging the characteristics of blockchain, all identity authentication and joining events are recorded in real time, ensuring that the drone's joining history is traceable, thereby enhancing the transparency and security of cluster management.

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 cryptographic system based on blockchain consensus. Background Art

[0002] Drone swarming technology involves the coordinated operation of multiple drones to efficiently execute complex tasks. This technology holds broad application potential 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 become separated from the swarm due to malfunctions, communication interruptions, or malicious attacks, resulting in reduced overall mission efficiency and increased security risks. The return of stray drones is a significant challenge in drone swarm management. Effectively assessing the feasibility of returning drones to the swarm and ensuring their safe return after they have strayed is key to improving the overall operational capabilities of drone swarms.

[0003] Current solutions rely on centralized control systems, which are susceptible to single points of failure and security risks. This leads to significant security risks in the process of stray drones rejoining the swarm. This is especially true for drones that have been away from the swarm for extended periods, as the lack of effective authentication mechanisms makes it easy for them to rejoin the swarm. During this process, attackers could exploit the drone's vulnerability during its absence to forge identities or engage in malicious activities, seriously threatening the security of the swarm. Furthermore, failures or attacks on central control nodes would severely impact the system's communication and coordination capabilities, further increasing the risk of stray drones being manipulated or attacked. Therefore, drone systems that rely on centralized control lack effective security safeguards when dealing with the issue of drones leaving the swarm, and there is an urgent need to explore decentralized solutions to ensure the security of drone authentication and rejoining processes. 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 objectives, 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 the p2p network to form a drone cluster;

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

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

[0009] The out-of-swarm 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.

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

[0011] A blockchain is maintained within the drone cluster, and a proof value is generated on the blockchain through a mask.

[0012] Drones outside the cluster rely on the blockchain for consensus. Each drone that leaves the cluster carries a copy of part of the blockchain in the original network, π. Drones that leave the cluster at different stages carry different information.

[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, calculates the time difference based on the current time, and then combines the time required for each consensus cycle to calculate the number of consensus cycles missed since leaving the network. Based on the calculated number of consensus cycles, 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 guess result with the previous intermediate value to obtain ω'. Then, a hash operation is performed to generate a cryptographic proof ′ for submission to drone node A in the network;

[0014] Node A in the cluster determines whether the stray 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 stray drone.

[0015] After the out-of-swarm drone performs identity authentication by computing the proof value maintained in the cluster, the steps further include:

[0016] After Drone 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 "entered 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-swarm drone performs identity authentication 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 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-swarm drone performs identity authentication by computing the proof value maintained in the cluster, the steps further include:

[0020] If a stray drone fails to rejoin the cluster within a 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] 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, the packets are 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 blockchain consensus-based drone swarm cryptographic system is applied to the blockchain consensus-based drone swarm authentication method.

[0024] The present invention provides a blockchain-based consensus-based drone swarm authentication method and cryptographic system. Before any drones perform a mission, all participating drone nodes connect via a peer-to-peer network to form a drone swarm. The members of this drone swarm remain fixed during mission execution, and each drone has its own unique identifier. This ensures that the drone swarm does not accept new drones joining the swarm during mission execution, preventing adversary drones from entering the swarm to steal internal information or disrupt the normal activities of the drones within the swarm. While the drones are performing a mission, each drone in the swarm periodically transmits heartbeat packets containing its current status information, such as location, battery level, speed, sensor status, and mission status. This information is stored in a transaction pool and, after each consensus cycle, verified by the consensus algorithm and packaged onto the blockchain. If a drone in the swarm temporarily leaves the swarm, the remaining drones can use the regularly received heartbeat packets to identify that a drone is no longer in the swarm before the next cycle. The departing drone is no longer able to perform activities within the swarm. If an outlier drone temporarily leaves the cluster due to weak signal or other reasons, it authenticates itself by calculating the proof value maintained within the cluster. Only by providing a correct proof value can it rejoin the cluster. When a drone within the cluster verifies the outlier drone, the following steps are involved: After drone A confirms the outlier's identity is valid, it constructs and broadcasts a message containing the outlier's identity information; other nodes receive the message and update their status to "entered the cluster"; the network records the joining event and generates an immutable transaction record on the blockchain; finally, the outlier receives a confirmation notification, officially becoming a member of the cluster and able to participate in subsequent activities. This blockchain-based authentication mechanism ensures the transparency and immutability of drone identity information, reducing the risk of identity forgery. Based on its own copy of the blockchain, outliers can flexibly infer proof' and rejoin the cluster, enhancing the drone swarm's adaptability in dynamic environments. By time-segmenting outliers, drones that leave the swarm early are more likely to rejoin, optimizing the cluster's resilience and improving overall mission efficiency. Leveraging the characteristics of blockchain, all identity authentication and joining events are recorded in real time, ensuring traceability of drone joining history 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0026] Figure 1 Schematic diagram of the blockchain consensus-based drone swarm cryptographic system of the present invention.

[0027] Figure 2 Schematic diagram of the possibility judgment of drone return clustering in the present invention.

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

[0029] The 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 understood as limiting the present invention.

[0030] The first embodiment of this application is:

[0031] See also Figures 1 to 3 ,in, Figure 1 Schematic diagram of the blockchain consensus-based drone swarm cryptographic system of the present invention. Figure 2 Schematic diagram of the possibility judgment of drone return clustering in the present invention. Figure 3 This is a flowchart of the steps of the blockchain consensus-based drone cluster identity authentication method 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 missions, all participating drone nodes are connected through the p2p network to form a drone cluster;

[0034] Specifically, before any drones begin a mission, all participating drone nodes connect via a peer-to-peer network to form a drone cluster. The members of this cluster remain fixed during the mission, and each drone has its own unique identifier. This ensures that the cluster does not accept new drones joining the cluster during the mission, preventing adversary drones from entering the cluster to steal internal information or disrupt the normal activities of the drones within the cluster.

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

[0036] Specifically, when a drone is performing a mission, each drone in the swarm can periodically send a heartbeat packet containing its current status information, such as location, battery level, speed, sensor status, and mission status. This information will be placed in the transaction pool and, after each consensus cycle, will be packaged together and verified by the consensus algorithm and then uploaded to the blockchain.

[0037] S103: The drones in the cluster identify a stray drone before the next cycle by regularly receiving heartbeat packets;

[0038] Specifically, when a drone in a swarm temporarily leaves the group, the drones within the swarm can use the heartbeat packets they receive regularly to identify that the drone is no longer in the swarm before the next cycle. The out-of-group drone will no longer be able to perform related activities within the swarm.

[0039] S104: The out-of-group drone authenticates its identity by calculating the proof value maintained in the cluster. It can only re-enter the cluster if it provides the correct proof value.

[0040] Specifically, in step 1, a blockchain is maintained within the drone cluster. On the blockchain, the cryptographic system uses the specific algorithm designed by the present invention, "Masked Proof Algorithm (MPA)", to generate a proof value through a mask. Only when the outlier drone provides the correct proof value can it be qualified to rejoin the original drone cluster. In the present invention, the 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 a 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 entire 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-based drone cryptographic system proposed in this patent, blockchain technology ensures system security and dynamism by adding new blocks after each consensus cycle. Specifically, the value of the system parameter ω continuously changes as the consensus cycle progresses. This mechanism effectively implements regular cryptographic updates, ensuring that the system automatically updates the cryptographic proof after each consensus cycle.

[0051] In step 2, drones outside the cluster can rely on the blockchain to reach consensus. Each drone that leaves the cluster carries a partial copy of the original network's blockchain, π. The information carried by drones that leave the cluster at different stages varies. Drones that leave the cluster later carry a copy of the blockchain π that contains more block information. Drones that have been out of the cluster for a short time can quickly deduce the proof based on sufficient block hashes in their own copy of the blockchain π and a simple guess, thereby passing verification and rejoining the cluster.

[0052] Drones that have been away from the swarm for a long time lack sufficient block information in their replica π. As a result, the less block information from their own blockchain replica π, the more difficult it is to generate a correct proof value. Each time period increases, the difficulty of returning to the swarm increases exponentially. Therefore, drones that leave the swarm later are generally more likely to rejoin than those that left earlier. This phenomenon indirectly affects the probability of rejoining over time. The difficulty of rejoining 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 a drone rejoining the swarm; the second parameter, t, represents the time since the drone left the swarm. The rejoining difficulty function indicates that as time passes, the difficulty of a stray drone returning to the swarm increases exponentially, thus affecting its likelihood of rejoining. The likelihood of rejoining 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 will obtain the timestamp λ of the last block β from the blockchain replica π and calculate 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 guess result with the previous intermediate value r j ' is combined to obtain ω', which is then hashed to generate a cryptographic proof ' that is submitted to drone node A in the network:

[0060] proof′=H(ω′)

[0061] Node A in the cluster will determine whether the stray 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 stray drone.

[0062] To further clarify, step 2 involves the following: Outlier drones typically manifest in three forms, each with a different difficulty level for rejoining, labeled Outlier_1, Outlier_2, and Outlier_3. The difficulty of rejoining is determined by the length of time they've been away from the swarm. Assume that Outlier_1 has a shorter outage time and leaves the cluster after the nth consensus cycle. Its replica of the blockchain retains all blocks prior to the nth consensus cycle. In this case, Outlier_1 only needs to guess a two-digit string and combine it with the hash of the n-1th block in its replica. The final guess is obtained through hashing, resulting in a lower difficulty level for rejoining.

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

[0064] Outlier_3, which has been out of the group for an extremely long time, faces a greater difficulty in rejoining. Because its blockchain copy only retains minimal block information, it must guess a longer string to obtain information within the cluster. Clearly, Outlier_2 faces a greater difficulty in guessing information within the cluster than Outlier_1. However, 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 Outlier_3's successful guessing of information within the cluster is almost impossible. Specifically, the out-of-group drone successfully passes 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 states include the following: 'Entered the cluster', 'Pending verification', 'Verified', and 'Exited'. After receiving the broadcast from drone A, the cluster state information is updated, and other nodes perform the following operations: After receiving the identity information of the outlier drone, each node updates its local state information, marking the outlier drone as 'Entered the cluster'.

[0068] 4. Once the drone Outlier's identity is verified and broadcast, the network triggers a 'join event', which includes the drone Outlier's identity, joining time, the verification node's ID, and the verification result. This information is combined to record the drone Outlier's joining. A new transaction is generated on the blockchain, recording the drone Outlier's identity and joining time. This record cannot be tampered with, ensuring that all nodes can accurately verify the drone Outlier's joining history.

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

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

[0071] The difficulty of guessing the password for a stray drone increases exponentially with the increase in the time it has been away from the swarm. If a stray drone does not rejoin the swarm within the set time period, it will be difficult for the drone to return to the original drone swarm. At this time, the command center will recover the drone and check whether there is a system failure or an enemy invasion. After the inspection and confirmation, the command center will decide the next task of the drone. When the command center recovers a stray drone that failed to successfully verify its entry into the swarm, it will first check whether the drone's status 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 swarm. latest The backup is then given to the out-of-group drone that rejoins the cluster, allowing it to re-attempt to enter the original cluster within the time period that the drone meets the requirements set by the cluster password system.

[0072] The application of blockchain technology ensures transparency and immutability in drone authentication. During mission execution, blockchain not only records and verifies drone identities but also allows for the tracing of individual drone activity within a specific timeframe. Furthermore, blockchain provides monitoring capabilities for stray drones, accurately recording their return to the swarm within a specific timeframe. This transparent recording mechanism improves the efficiency and security of drone swarm collaboration and provides reliable data support for subsequent mission execution.

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

[0074] Stray drones can flexibly infer proofs based on their own blockchain replicas and rejoin the swarm, enhancing the swarm's adaptability in dynamic environments. By arranging stray drones by time, drones that leave the swarm early are more likely to rejoin, optimizing the swarm's resilience and improving overall mission 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 this application is:

[0077] Based on the first embodiment, please refer to Figure 1 ,in, Figure 1 Schematic diagram of the blockchain consensus-based drone swarm 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] The above disclosure is merely one or more preferred embodiments of the present application and is not intended to limit the scope of the present application. A person skilled in the art will understand that all or part of the processes of the above embodiments and equivalent changes made in accordance with the claims of the present application are still within the scope of 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 the p2p network to form a drone cluster; When a drone is performing a mission, each drone in the drone cluster regularly sends a heartbeat packet to the transaction pool. After each consensus cycle, it is packaged together on the blockchain after verification by the consensus algorithm. The drones in the cluster can identify a stray drone before the next cycle by receiving heartbeat packets regularly; The out-of-swarm 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. A blockchain is maintained within the drone cluster. On the blockchain, a proof value is generated by mask. Mask represents the mask of the last N hexadecimal strings. The definition and generation process of the mask are as follows: Among them, N is the difficulty coefficient for determining whether the drone rejoins the cluster. After the nth round of consensus, there are n blocks on the blockchain. The block hashes corresponding to 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 :r i =H(b i )&mask(i=1,2,…,n), all r i The results are concatenated to generate a new string ω, which is an important component of the proof value proof: ω = r1||r2||…||r n Finally, hash the concatenated result ω to get the final proof value proof: proof=H(ω). The whole process of generating the proof value proof is expressed by the following formula: proof=H{[(b1)&mask]||[(b2)&mask]||…||[(b n )&mask]}; Drones outside the cluster rely on the blockchain for consensus. Each out-of-group drone carries a copy of part of the blockchain in the original network, π. The information carried by out-of-group drones at different stages varies. The difficulty of returning to the group is expressed by the following function: D(N, t) = N·e t , where N is the difficulty coefficient for determining whether a drone rejoins the cluster, t is the time after the drone leaves the cluster, and the probability of returning to the cluster is expressed by the following function: The outlier drone obtains the height H 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 the intermediate value r′ j :r′ j =H(b j )&mask(j=1,2,…,H), 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, and then combine the time τ required for each consensus cycle to calculate the number of consensus cycles missed since leaving the network, ρ, where Based on the calculated consensus cycle number ρ, the number of digits δ of the string to be guessed is determined. The outlier drone guesses the string based on the number of digits δ and compares the guessed result with the previous intermediate value r′. j The merged ω' is then hashed to generate a password proof' that is submitted to the drone node A in the network: proof' = H(ω'); Node A in the cluster determines whether the stray 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 stray drone.

2. 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 Drone A in the cluster confirms the identity of the Outlier drone, it constructs and broadcasts a message containing the Outlier's identity information. Other nodes receive the message and update their status to "entered the cluster." The network records the joining event and generates an immutable transaction record on the blockchain. The Outlier receives the confirmation notification, officially becoming a member of the cluster and able to participate in subsequent activities.

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 in the cluster, the steps further include: Drone A in the cluster confirms that the identity of the outlier is invalid, and considers the node Outlier as a drone that has been out of the group for too long, and chooses to ignore it. The node Outlier still continues 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.

4. The blockchain consensus-based drone cluster identity authentication method according to claim 3, characterized in that: After the out-of-swarm drone authenticates itself by computing the proof value maintained in the cluster, the steps further include: If a stray drone fails to rejoin the cluster within a 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.

5. The drone cluster identity authentication method based on blockchain consensus as claimed in claim 1, characterized in that: 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 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.

6. A drone swarm cryptographic system based on blockchain consensus, applying the drone swarm authentication method based on blockchain consensus as described in claim 1.

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