Elastic destroy-resistant routing method of unmanned aerial vehicle network and related equipment thereof

Abstract

The invention relates to the technical field of unmanned aerial vehicle communication, in particular to an elastic destroy-resistant routing method of an unmanned aerial vehicle network and related equipment thereof, and the method comprises the following steps: constructing a main path from a source node to a target node and at least one backup routing path through multi-relay node topological connection; when the relay node of the main path fails, the system is automatically switched to the optimal backup path; and if the backup paths are unavailable or all of the backup paths are invalid, dynamically reconstructing the route based on the remaining normal nodes. And finally, the reconstructed path is issued to the unmanned aerial vehicle in real time, so that the continuous communication capability of the unmanned aerial vehicle in a complex network environment is ensured, and the survivability of a routing strategy is realized.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle (UAV) communication technology, and in particular to a resilient and indestructible routing method for an UAV network and related equipment. Background Art

[0002] Drone swarms have been widely used in civilian applications such as logistics and distribution, environmental monitoring, disaster relief, and agricultural inspections. Due to the highly dynamic topology, complex wireless communication environment, and susceptibility to interference and failure, FANET systems face challenges in ensuring stable communications, improving resiliency, and optimizing network recovery efficiency. Existing routing and topology-aware technologies often suffer from high computational overhead, slow recovery, and delayed topology updates when dealing with highly dynamic network changes and partial node failures, making them inadequate for practical applications of drone swarms.

[0003] By dividing a drone swarm into multiple clusters, with the Cluster Head (CH) responsible for managing communication and routing for member nodes, the network's stability and resilience are improved. The specific implementation steps are as follows: Swarm drones achieve efficient communication and resilience through the following methods: First, clusters are divided based on geographic location or communication quality, managed by the Cluster Head; member nodes relay data through the CH to improve communication efficiency; when communicating across clusters, a backbone network is established between CHs, selecting low-hop, high-stability paths for data forwarding; the cluster structure can adaptively adjust to drone location changes or node damage, re-electing the CH and optimizing routing; and if a CH fails, the cluster re-elects the CH and re-establishes communication links to ensure normal network operation.

[0004] Existing solutions usually adopt passive routing recovery methods when facing drone swarm node failure, link damage or external interference, which has a slow response speed and cannot guarantee efficient communication quality. The present invention adopts a strategy that combines adaptive reconstruction and random backup, which can actively perceive network changes, quickly switch to backup paths or dynamically adjust the network structure, and improve the network's anti-destruction capability and adaptability. Anti-destruction routing solutions and topology management methods are often optimized for specific network environments, and it is difficult to maintain efficient performance in different scenarios, especially in complex dynamic environments. The present invention adopts an adaptive mechanism, which enables it to dynamically adjust communication strategies according to different mission scenarios and network status, ensuring that drone swarms can maintain efficient and stable communications in different environments. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a resilient anti-destruction routing method and related equipment for UAV networks in response to the deficiencies in the above-mentioned prior art, so as to solve the technical problems of insufficient anti-destruction capability and poor adaptability.

[0006] The purpose of the present invention is achieved by the following technical solutions: In a first aspect, the present invention provides a resilient and invulnerable routing method for a UAV network, comprising: S1. Construct a primary routing path between a source node and a target node of the UAV; construct at least one backup routing path between the source node and the target node; the primary routing path and the backup routing path are obtained by topologically connecting multiple relay nodes on the communication link; S2. When a relay node in the primary path fails, the routing path on the UAV is switched to the optimal backup routing path found; S3. When no backup routing path is found or all relay nodes appear on the backup routing path, the routing path between the source node and the destination node is rebuilt based on the normal relay nodes. S4. Send the reconstructed routing path to the UAV to achieve destruction-resistant routing for the UAV.

[0007] As a further improvement of the present invention, the method of constructing a main path for routing between a source node and a target node of the drone includes: The source node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, and calculates the link quality, link predicted lifetime, and reachability of the neighbor nodes respectively; the neighbor nodes are drone nodes; Select a relay node that broadcasts a TC (Transmission Control Protocol) packet based on the link quality, link predicted lifetime, and node reachability of neighboring nodes, and use the relay node as a relay route. The relay node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, calculates the link quality, link predicted lifetime, and reachability of the neighbor nodes of the relay node, and then selects the relay node as the relay route between the source node and the target node. The operation steps are repeated until the target node is reached. After connecting all selected relay routes, the main path of the route between the source node and the target node is obtained.

[0008] As a further improvement of the present invention, selecting a relay node for broadcasting a TC packet based on the link quality, link predicted lifetime, and node reachability of neighboring nodes specifically includes: The link quality, link predicted survival time and node reachability of neighboring nodes are weighted and calculated, and the node corresponding to the maximum value is used as the relay node.

[0009] As a further improvement of the present invention, constructing at least one backup routing path between the source node and the target node specifically includes: Using a probabilistic graphical model to determine the drone nodes in a specified area from the source node to the target node, and forming a network topology based on the drone nodes; Using a priority search algorithm, all paths from a source node to a target node in the network topology are selected, and all paths other than the primary path that can reach the target node are selected as alternative survivable paths; A destruction-resistant cost model is constructed with the minimum restoration cost as the goal; all alternative paths are evaluated according to the destruction-resistant cost model, and at least one optimal alternative destruction-resistant path is selected as the backup routing path.

[0010] As a further improvement of the present invention, the invulnerability cost model includes a routing index corresponding to an intermediate node of the alternative path; the calculation expression of the routing index is:

[0011] Where, is the routing index of the kth candidate indestructible path from source node s to destination node q; is the weight of the optional index; is the optional index of the kth candidate indestructible path from the source node s to the target node q; is the weight of the delay index; is the delay index of the kth candidate survivable path from the source node s to the target node q; is the weight of the random network state matrix; are other state factor indices, expressed as random network state matrices; is the source node; is the target node; k is the alternative invulnerable path.

[0012] As a further improvement of the present invention, the selectivity index of the alternative survivability path is obtained according to the survivability cost corresponding to the intermediate node of the alternative survivability path. The selectivity index calculation formula is:

[0013] Where, is the optional index of the kth candidate indestructible path from the source node s to the target node q, is the invulnerability cost of the kth alternative invulnerability path corresponding to the i-th intermediate node, is the kth candidate indestructible path from source node s to target node q, is the number of intermediate nodes included in the kth alternative indestructible path, is the set of all intermediate nodes included in the kth alternative indestructible path, i is the i-th intermediate node in the alternative indestructible path, It is the average invulnerability cost weight of all intermediate nodes after excluding the source node s and the target node q.

[0014] As a further improvement of the present invention, the reconstructing the routing path between the source node and the target node based on the normal relay node includes: The source node creates a route request message data packet and broadcasts the route request message to valid intermediate nodes in the network topology; All valid intermediate nodes that receive the route request message check whether the route request message has been processed; if it has not been processed, the route request message is updated according to its own routing table and the updated route request message is broadcasted. The valid intermediate nodes that receive the updated route request message repeat the setting steps until the target node or a valid routing path is found; the valid routing path means that all nodes on the path corresponding to the target node are valid nodes; if it has been processed, the route request message is discarded, the routing table is not updated, and the route request message is not forwarded; the setting steps are to update the unprocessed route request message and broadcast the updated route request message; If the node that receives the updated route request message is a valid node in the valid routing path or a target node, it generates a route reply message and returns it to the source node. After receiving the route reply message, the source node updates its own routing table, establishes a communication path with the target node, and completes the routing path reconstruction.

[0015] As a further improvement of the present invention, during the process of reconstructing the routing path between the source node and the target node, the faulty route is repaired. The repairing step includes: Real-time detection of intermediate nodes. When an intermediate node fails, the failed node broadcasts a routing error message to the corresponding neighboring nodes. The neighboring node that receives the routing error message deletes the routing information of the faulty node from its own routing table, and rebroadcasts the routing request message to establish a new route until the routing path corresponding to the faulty node is replaced.

[0016] As a further improvement of the present invention, all valid intermediate nodes that receive the routing request message check the routing request message and perform an update, specifically including: The valid intermediate node receiving the route request message detects the source address, destination address, source sequence number and broadcast count of the route request message; confirming whether the route request message has been processed based on the source address, destination address, source sequence number, and broadcast count of the route request message; If it has not been processed, the effective intermediate node updates its own routing table according to the routing request message, records the hop count and related routing information of the target node, and increases the hop count by 1.

[0017] In a second aspect, the present invention provides a resilient and indestructible routing system for a UAV network, which is used to implement the resilient and indestructible routing method for the UAV network, comprising: The main path construction module is used to construct the main path of the UAV's routing between the source node and the target node according to the relay node topology structure on the communication link between the source node and the target node; A backup routing path construction module constructs and stores at least one backup routing path between a source node and a target node; the backup routing path is obtained based on a topological structure of relay nodes on a communication link between the source node and the target node; Relay node detection module, used to detect whether the relay node of the primary path is faulty and whether the faulty node appears on the backup routing path; The path switching module is used to query the backup routing path construction module according to the fault result output by the relay node detection module, and update the queried backup routing path to the routing table on the drone; The path reconstruction module is used to reconstruct the routing path between the source node and the target node based on the normal relay nodes when no backup routing path is found or all relay nodes appear on the backup routing path; and update the reconstructed routing path to the routing table of the drone to achieve anti-destruction routing of the drone.

[0018] The beneficial effects of the present invention are as follows: the present invention provides a resilient and anti-destruction routing method for a drone network, which can improve the quality of drone routing by constructing a main path and a backup routing path. The present invention adopts a random backup routing strategy and pre-stores multiple backup paths. When the main path is damaged, it can quickly switch to the backup route through redundant communication links, and quickly restore the route to ensure uninterrupted communication, ensuring that the network can still maintain efficient communication when the relay node fails, and increasing the autonomy and anti-destruction of the drone network. When the backup routing path is not queried or the backup routing path cannot communicate normally, the present invention can dynamically rebuild the routing path based on the remaining normal relay nodes, ensuring that the network is quickly restored in a complex and changeable environment and maintaining smooth communication. The rapid backup path switching and path reconstruction mechanism can effectively reduce the communication interruption time and reduce the impact on task execution. At the same time, the redundant backup path and path reconstruction mechanism significantly improve the anti-destruction and self-healing capabilities of the drone network, providing a strong guarantee for the stable operation of drones in complex environments.

[0019] Furthermore, when creating the main path, the present invention evaluates the link quality, link predicted lifetime, and node reachability of neighboring nodes through multiple dimensions, while considering the link quality, link stability, and node connectivity. Nodes with higher link quality, longer link lifetime, and greater node reachability are used as relay nodes, thereby improving the stability and efficiency of the main path and reducing data transmission delays.

[0020] Furthermore, the present invention constructs a backup routing path based on a probabilistic graph model and an anti-destruction cost model. The probabilistic graph model takes into account all drone nodes to avoid missing key nodes. The priority search algorithm systematically traverses the network topology in a short time to find all possible paths from the source node to the target node to avoid missing potential alternative paths. All paths are evaluated based on the anti-destruction cost model to screen out suitable alternative paths, avoid wasting resources, and at the same time improve the anti-destruction, reliability and network integrity of the backup routing path.

[0021] Furthermore, during the process of reconstructing the routing path, the present invention only selects valid nodes as path nodes, avoiding faulty and unreliable nodes and ensuring the reliability of the reconstructed routing path. Intermediate nodes can process routing request messages in parallel, increasing the speed of routing reconstruction and quickly restoring communications. By checking whether routing request messages have already been processed, it can avoid repeated information processing and improve efficiency. The present invention is applicable to networks of different sizes, whether small local area networks or large wide area networks, and can effectively complete routing reconstruction. It is applicable to drone networks of different sizes and environments, providing a reliable and efficient routing reconstruction solution for drone communications. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention 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. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 1. It is a flow chart of the resilient and indestructible routing method for UAV networks of the present invention; Figure 2 Schematic diagram of the structure of the resilient and indestructible routing system of the UAV network of the present invention. DETAILED DESCRIPTION

[0024] In order to make the purpose and technical solution of the present invention clearer and easier to understand, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. The specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] The technical solutions of the present invention will be described clearly and completely below with reference to the accompanying drawings and specific embodiments. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0026] In the drone network system, there are several drone nodes, each of which can communicate with adjacent drone nodes to form a topological structure of communication links. The source node and the target node in the prior art are routed through a topology management method controlled by a fixed cluster. The existing topology perception technology relies on periodic broadcasts to update topology information. In a highly dynamic network environment, insufficient update frequency can easily lead to outdated topology, and frequent broadcasts will increase the communication burden. When faced with drone swarm node failure, link damage or external interference, a passive routing recovery method is usually adopted, which has a slow response speed and cannot guarantee efficient communication quality. Therefore, the present invention proposes a lightweight, highly reliable and highly resistant routing method based on the drone network structure, which can actively perceive network changes, quickly switch to alternative paths or dynamically adjust the network structure, and improve the network's resistant capability and adaptability.

[0027] Example 1 like Figure 1 As shown, this embodiment provides a resilient and indestructible routing method for a UAV network, and the specific implementation method is as follows.

[0028] S1. Construct a primary routing path between a source node and a target node in a UAV network; construct at least one backup routing path between the source node and the target node.

[0029] The primary path and the backup routing path are obtained by topologically connecting multiple relay nodes on the communication link.

[0030] S11. Construct the main path between the source node and the target node of the UAV, specifically including: This embodiment uses HELLO and TC messages to maintain network topology, detect topology changes in real time, and ensure accurate and timely transmission of data packets to their destination nodes. By selecting some nodes as relay nodes to forward control messages, the number of redundant messages is reduced, thereby lowering control message overhead. TC packets are broadcast between relay nodes using an improved optimized link state routing protocol to better match flight networking.

[0031] The source node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, and calculates the link quality, link predicted lifetime, and reachability of the neighbor nodes respectively.

[0032] In this embodiment, the source node refers to the starting drone node of the communication network, the destination node is the desired drone node for signal transmission, and the source node's neighbor node refers to a drone node with a direct one-hop communication connection to the source node. A one-hop neighbor node is a node in the drone network topology that can directly connect to a drone node. That is, two nodes that have a direct communication link between them are called one-hop neighbors.

[0033] Based on the link quality, link predicted lifetime, and node reachability of neighboring nodes, a relay node for broadcasting the TC packet is selected and the selected relay node is used as the relay route.

[0034] The selected relay node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, calculates the link quality, link predicted lifetime and reachability corresponding to the neighbor nodes of the relay node respectively, and then selects the relay node again as the relay route between the source node and the target node, and repeats the relevant steps of selecting the relay route, that is, the selected relay route broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, calculates the link quality, link predicted lifetime and reachability corresponding to the neighbor nodes of the selected relay node respectively, and then selects the next relay node as the relay route between the source node and the target node again, until the target node is reached.

[0035] After connecting all selected relay routes, the main path of the route between the source node and the target node is obtained.

[0036] The link quality, link predicted survival time and node reachability of neighboring nodes are weighted and calculated, and the node corresponding to the maximum value obtained by the calculation is used as the relay node.

[0037] The three indicators of neighbor node link quality, link prediction lifetime, and node reachability are weighted and calculated. The specific weighted calculation expression is:

[0038] in, is the weighted calculation result, is the link quality between UAV node i and UAV node j (referred to as node i and node j); is the weighting factor of link quality; Predict the lifetime of the link between node i and node j; The weighting factor corresponding to the link prediction lifetime; is the reachability of node j; is the weighting factor of node reachability; is the distance between node i and node j, is the communication range of drone node i. Among them, drone node i and drone node j are one-hop neighbor nodes. The weighting factors corresponding to the three variables are 、 、 satisfy , adjust the weights according to the focus of the flight ad hoc network.

[0039] The link quality of neighboring nodes is used to measure the quality level of the communication link between the adjacent nodes of the drone. When the link quality between the neighboring nodes is The smaller the value, the better the communication link quality is, and it is more suitable for the network environment of flight ad hoc network. Therefore, when considering the link quality, it is preferred to The node with the smallest value, that is:

[0040] Where, is the link quality level between neighbor nodes, is the set of one-hop neighbor nodes of node i, is the minimum link quality between node i and node j, is the link quality between node i and node j.

[0041] Link quality is measured by the expected number of transmissions (Count, ), then the link quality between node i and node j is calculated as:

[0042] Where, is the forwarding reception ratio, i.e., the probability that the data packet successfully reaches the receiving node; is the reverse reception ratio, which is the probability that an ACK (Acknowledgment) message is successfully received. In other words, link quality estimates the expected transmission of a data packet (including retransmissions) so that it will not be received incorrectly at the destination node. and reverse reception ratio It is measured by link detection through HELLO packets. In the optimized link state routing protocol, the forward reception ratio is Using exponential moving average to calculate, the expression is:

[0043] in, To receive the l Hello message forwarding reception ratio The value of To receive the l-1 Hello message forwarding reception ratio The value of To optimize the parameters of link state routing protocols, The value of is related to the accuracy of link quality estimation. The larger the value, the more average the reception ratio, resulting in a more stable and reliable estimate; The smaller it is, the greater the change in the reception ratio will be, which will prompt the node to send more HELLO packets to update the link quality. is the first coefficient value. If the first HELLO message packet is received, If the first HELLO message packet is not received, To simplify the calculation, the forward reception ratio and reverse reception ratio are calculated by using the ratio of HELLO messages sent by neighboring nodes received by the two nodes within a certain period. The calculation formula is as follows:

[0044]

[0045] Where, is the simplified forward-receive ratio; is the simplified reverse reception ratio; is the number of HELLO packets received by node j from node i; For nodes Send to node Number of HELLO groups; is the number of HELLO packets received by node i from node j; For nodes Send to node Then, the final link quality between node i and node j is expressed as:

[0046] The link quality of route R is the sum of the link qualities of the links that make up the route, and the calculation expression is:

[0047] Where, is the link quality corresponding to route R, is the link quality between node i and node j, both nodes i and j are on the routing path R; It is the sum of the link qualities of each neighboring node.

[0048] Link prediction survival time is mainly used to measure the stability of communication time between adjacent nodes of drones. The longer the communication link between nodes exists, the better the performance. Therefore:

[0049] Where, Predict the lifetime of the link, is the link holding time between node i and node j.

[0050] The formula for the link holding time between adjacent drone nodes is:

[0051]

[0052]

[0053] Where, Maintaining time for links between adjacent drone nodes; For nodes i and j, Axial speed difference; For nodes i and j, The distance difference in the axis direction, is the difference in the vertical direction of the velocity between nodes i and j, is the distance between node i and node j, is the speed of node i, For node i Axial velocity component, is the velocity of node j, For node j in Axis speed, satisfying , where r is the communication range between node i and node j, is the projection position of node i in the x-axis direction, is the projection position of node j in the x-axis direction, is the projection position of node i in the y-axis direction, is the projection position of node j in the y-axis direction.

[0054] Node reachability is used to measure the number of two-hop neighbor nodes that the drone node can cover. The stronger the reachability, the more neighbors node j has. Therefore, this embodiment prioritizes the node with the highest reachability:

[0055] Where, For accessibility, is the maximum reachability of node j, is the reachability of node j.

[0056] In this embodiment, the one-hop neighbor nodes are stored in the drone's one-hop neighbor table. The node reachability of two-hop neighbor nodes with symmetric links to the one-hop neighbor node is obtained using the information in the one-hop neighbor table. A relay node is selected from the one-hop neighbor node with the highest node reachability.

[0057] If after one cycle the node When sending a HELLO message packet, the prediction node Still at the node Within the effective communication distance, the node It's the node Relay nodes to be selected; if after one cycle the node No longer in the node If the node is within the communication range, then node j is not within the selection range.

[0058] S12. Construct at least one backup routing path between the source node and the target node, specifically including: A probabilistic graphical model is used to identify the drone nodes in the specified area from the source node to the target node, and a network topology is formed based on these drone nodes. During the initialization phase, each intermediate node maintains the local network topology within a range of m hops around it in order to obtain the invulnerability index of the node's network structure.

[0059] Using a priority search algorithm, all paths from a source node to a target node in the network topology are selected, and all paths other than the primary path that can reach the target node are used as alternative survivable paths; A destruction-resistant cost model is constructed with the goal of minimizing the cost of restoration. All alternative paths are evaluated based on the model, and at least one optimal alternative destruction-resistant path is selected as a backup routing path. This selection of alternative destruction-resistant paths also involves screening backup paths based on node damage, eliminating paths containing damaged nodes and ultimately selecting the path with the fewest hops and shortest distance. Path mapping and visualization provide an intuitive display of the network topology and path selection results. This method effectively improves the robustness and fault tolerance of the drone swarm network, ensuring the continuity and reliability of data transmission.

[0060] Furthermore, in this embodiment, when a service is initiated from source node s to destination node q, the source node needs to send a route request (RREQ) to its neighboring nodes to satisfy the routing requirement. Upon receiving the request, the destination node returns a route confirmation (RREP) message. During this process, multiple paths are identified, and the optimal path is selected from these paths. To reduce the network resource usage of route establishment messages, a limited number of alternative, survivable paths are typically selected. In this embodiment, the number of alternative paths is set to three. To prevent route queries from entering loops, the number of hops in RREQ and RREP messages is limited to ensure that queries for backup routing paths do not time out.

[0061] Nodes exchange information with neighboring nodes to obtain the local network topology, and then calculate the node invulnerability selectivity index according to the corresponding invulnerability cost model.

[0062] Specifically, with the goal of minimizing the cost of service recovery, a survivability cost model is constructed and used to evaluate all alternative paths. The survivability cost model includes the routing index corresponding to the intermediate nodes of the alternative paths. The routing index calculation expression is:

[0063] Where, is the routing index of the kth candidate indestructible path from source node s to destination node q; is the weight of the optional index; is the optional index of the kth candidate indestructible path from the source node s to the target node q; is the weight of the delay index; is the delay index of the kth candidate survivable path from the source node s to the target node q; is the weight of the random network state matrix; are other state factor indices, expressed as random network state matrices; is the source node; is the target node; k is the alternative indestructible path. In this embodiment, different weight ratios can describe the different emphasis of the network parameters corresponding to the routing selection, but the weights corresponding to different variables are The sum is 1.

[0064] Among them, the optional index of the alternative anti-destruction path The optional index is obtained based on the corresponding invulnerability cost of the intermediate nodes of all alternative invulnerability paths. for:

[0065] Where, is the optional index of the kth candidate indestructible path from the source node s to the target node q, is the invulnerability cost of the kth alternative invulnerability path corresponding to the i-th intermediate node, is the kth candidate indestructible path from source node s to target node q, is the number of intermediate nodes included in the kth alternative indestructible path, is the set of all intermediate nodes included in the kth alternative indestructible path, i is the i-th intermediate node in the alternative indestructible path, It is the average invulnerability cost weight of all intermediate nodes after excluding the source node s and the target node q.

[0066] So, the cost of anti-destruction The calculation expression is:

[0067] Where, is the cost control coefficient; is the kth candidate indestructible path corresponding to node i; Representation node In case of failure, The cost factor of an alternative invulnerability path; Alternative survivability path Nodes in To Node A set of alternative paths; The number of optional paths. Also represents all path transformation schemes The sum of the cost factors generated, where i represents the nodes in the alternative route; k has a minimum of 1 and a maximum of the number of path recovery solutions. Therefore, the survivability cost is used to further evaluate whether the survivability of the alternative path is within an acceptable range. The survivability of all paths can then be calculated and ranked, with the path with the lowest survivability cost being the preferred alternative.

[0068] In addition, this embodiment can also adjust the value range of the cost coefficient. The default value is 1, which means that the larger the coefficient, the larger the optional index parameter, and also means that some solutions with high anti-destruction costs may also be selected.

[0069] Latency Index Calculated by the number of node hops, the more node hops there are, the greater the possible delay index is. Therefore, the length of the path can be regarded as a criterion for judging the delay size. The calculation expression is:

[0070] Where, is the number of intermediate nodes included in the kth alternative indestructible path.

[0071] S2. When a relay node in the primary path fails, the routing path on the UAV is switched to the optimal backup routing path found.

[0072] Network communication resiliency refers to whether services between a specified source and destination node can be restored in the event of a network outage. Generally, as long as the network topology between the corresponding communicating nodes remains connected, the interrupted services can be restored.

[0073] S3. When no backup routing path is found or all relay nodes appear on the backup routing path, the routing path between the source node and the target node is rebuilt based on normal relay nodes.

[0074] Specifically, the routing path between the source node and the target node is rebuilt based on the normal relay node, which specifically includes: The source node creates a route request message data packet and broadcasts the route request message to valid intermediate nodes in the network topology; All valid intermediate nodes that receive a route request message check whether the route request message has been processed. If not, they update the route request message based on their own routing table and broadcast the updated route request message. Valid intermediate nodes that receive the updated route request message repeat this setup step until they find the target node or a valid routing path. A valid routing path refers to a path where all nodes on the path to the target node are valid nodes. If the route request message has been processed, the route request message is discarded, and the routing table does not update information about the target node's hop count, path, and other information. The route request message is no longer forwarded, ensuring the stability of the routing table and preventing routing oscillations caused by old paths or redundant information. The setup step involves valid intermediate nodes that receive an updated route request message checking whether the route request message has been processed. If not, they update the route request message based on their own routing table and broadcast the updated route request message.

[0075] If the node that receives the updated route request message is a valid node in the valid routing path or a target node, it generates a route reply message and returns it to the source node. After receiving the route reply message, the source node updates its own routing table, establishes a communication path with the target node, and completes the routing path reconstruction.

[0076] In addition, the process of reconstructing the routing path between the source node and the target node also includes repairing the faulty route. The repair steps include: Real-time detection of intermediate nodes. When an intermediate node fails, the failed node broadcasts a routing error message to the corresponding neighboring nodes. The neighboring node that receives the routing error message deletes the routing information of the faulty node from its own routing table, and rebroadcasts the routing request message to establish a new route until the routing path corresponding to the faulty node is replaced.

[0077] S4. Update the reconstructed routing path to the UAV to achieve the UAV's anti-destruction routing.

[0078] Example 2 As a further preferred embodiment of Example 1, the workflow of random backup routing in this embodiment specifically includes: During the initialization phase, to determine the invulnerability index of a node within its network structure, each intermediate node maintains the local network topology within a hop count range of m. Nodes exchange information with neighboring nodes to obtain this local network topology and then calculate the node's invulnerability selectability index based on the corresponding node's invulnerability model.

[0079] During the route discovery phase, available paths are discovered. The source node initiates a route request to the destination node and broadcasts a RREQ message. Upon receiving the RREQ message from the source node, the destination node replies with the first RREQ message to reach the destination node, a RREP message. As the RREP message passes through intermediate nodes, the intermediate nodes add their survivability parameters, latency, and operational status to the RREP message. The RREP message also includes the number of hops along the path. Upon receiving the RREP message, the source node obtains a finite number n of routes and includes them in the path set.

[0080] During the route establishment phase, the source node will calculate the corresponding paths using the hybrid routing model based on the obtained n paths and related path data sets, and select the path with the largest value for business data transmission.

[0081] When a node is damaged, a path with the lowest cost is selected from the alternative paths to retransmit the data.

[0082] Example 3 As a further preferred embodiment of embodiment 1, in this embodiment, reconstructing the routing path between the source node and the target node based on a normal relay node further includes: 1) Generating a Route Request Message: The process of generating a Route Request (RREQ) message in adaptive node dynamic routing involves several key steps. First, the source node creates an RREQ message packet, which includes fields such as the source address, destination address, source sequence number, destination sequence number, broadcast count, hop count, and lifetime. The source node sets the source and destination addresses, generates a unique broadcast ID and source sequence number, initializes the hop count to 0, and sets the lifetime of the RREQ message. The source node then broadcasts the RREQ message to the network. All neighboring nodes that receive the RREQ check whether the message has already been processed to avoid duplicate processing and broadcast further RREQ messages as needed. If the node is the destination node or knows a path to the destination node, it generates a Route Reply (RREP) message and returns it to the source node. This process ensures that the source node can discover and establish a routing path to the destination node.

[0083] 2) Processing and Forwarding of Route Request Messages: In adaptive node-based dynamic routing, processing and forwarding a route request message (RREQ) involves several key steps. First, a node receiving an RREQ message checks the message's source address, destination address, source sequence number, and broadcast count to determine whether the message has been processed before. If the message is new, the node updates its routing table, recording the hop count and other relevant information about the destination node, and increments the hop count by 1. The node then broadcasts the updated RREQ message to all its neighbors, continuing its search for the destination node or a valid routing path. If the node is the destination node or knows the routing path to the destination node, it generates a route reply message (RREP) and sends it along the path from the destination node back to the source node. After receiving the RREP message, each relay node updates its routing table and forwards the RREP to the source node. The source node eventually receives the RREP message, updates its routing table, and establishes a communication path with the destination node. This process ensures that the source node can discover and establish a valid routing path.

[0084] A Route Reply message is a unicast reply to a Route Request message. Its purpose is to inform the source node of the route to the destination node. A Route Reply message establishes a forward route from the node that receives the Route Reply message to the destination node in the Route Reply message, which is then used to send data to the destination node.

[0085] 1) Route Reply Message Generation Process: When a node receives a route request message (RREQ), if it is the destination node specified in the RREQ or has a known valid routing path to the destination node, it generates a RREP message. The source address of the RREP message is set to the address of the destination node, the destination address is set to the address of the source node, and the source and destination sequence numbers are set to the latest sequence numbers of the destination node. The hop count is set to the hop count in the RREQ message plus 1, and the RREP message lifecycle is set to ensure that the message can be effectively propagated in the network. The generated RREP message is sent along the path from the destination node back to the source node. During this process, each relay node updates its routing table to maintain the path to the destination node. After receiving the RREP message, the source node updates its routing table and establishes a communication path with the destination node, thus completing the route establishment.

[0086] 2) Forwarding and processing route reply messages: A node that receives an RREP message first checks the message's source and destination addresses to determine its validity. If the node is the RREP's destination address or knows a valid path to the destination address, it updates its routing table, records the path to the destination node, and forwards the RREP message along the path toward the source node. During the forwarding process, the node increments the hop count of the RREP message by 1 and sends the message to the next node until the RREP message returns to the source node. Upon receiving the RREP message, the source node updates its routing table and establishes a communication path with the destination node. Throughout this process, each relay node and source node maintains and updates its routing table to ensure that routing information in the network is up-to-date, thereby ensuring smooth data transmission and that path information reflects changes in network status.

[0087] Route repair plays a key role in adaptive node dynamic routing mechanisms. When a link failure renders one or more nodes unreachable, the route repair process is initiated. Unlike traditional mechanisms, this innovative mechanism not only detects a node failure or route interruption in a path, but also sends a Route Error Message (RERR) to notify affected neighboring nodes of the route failure. Furthermore, the mechanism leverages the flooding capabilities of undamaged nodes to locate nodes beyond communication range and establish a new route.

[0088] Specifically, after sending a RERR message, the receiving node promptly removes the relevant outdated path from its routing table and actively attempts to reestablish a path to the destination node. If the source node discovers that its route to the destination node is broken, it restarts the route discovery process and sends a new Route Request (RREQ) message. These RREQ messages, thanks to flooding by undamaged nodes, overcome the conventional communication distance limitations and reach more distant nodes. Upon receiving the RREQ message, these nodes follow similar processing and forwarding steps as in initial path discovery, ultimately finding a single available shortest path.

[0089] This unique approach not only updates routing tables and reestablishes connections, dynamically repairs routing problems in the network, ensures that data can continue to be effectively transmitted, and maintains network connectivity, but also greatly expands the network's routing reconstruction capabilities in the event of node damage, significantly improving the network's reliability and adaptability.

[0090] Example 4 This embodiment provides a resilient and invulnerable routing system for a UAV network. Figure 2 As shown, the system is mainly used to implement the resilient and indestructible routing method of the drone network in the above embodiment 1. The system mainly includes: The main path construction module is used to construct the main path of the route between the source node and the target node of the drone according to the relay node topology structure on the communication link between the source node and the target node.

[0091] Specifically, this embodiment uses HELLO and TC messages to maintain network topology, detect topology changes in real time, and ensure accurate and timely transmission of data packets to their destination nodes. By selecting some nodes as relay nodes to forward control messages, the number of redundant messages is reduced, thereby lowering control message overhead. TC packets are broadcast between relay nodes using an improved optimized link state routing protocol to better match flight networking.

[0092] The source node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, and calculates the link quality, link predicted lifetime, and reachability of the neighbor nodes respectively.

[0093] In this embodiment, the source node refers to the starting drone node of the communication network, the destination node is the desired drone node for signal transmission, and the source node's neighbor node refers to a drone node with a direct one-hop communication connection to the source node. A one-hop neighbor node refers to a node in the drone network topology that can directly connect to a drone node. Two nodes with a direct communication link are called one-hop neighbors.

[0094] Based on the link quality, link predicted lifetime, and node reachability of neighboring nodes, a relay node for broadcasting the TC packet is selected and the selected relay node is used as the relay route.

[0095] The selected relay node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, calculates the link quality, link predicted lifetime, and reachability corresponding to the relay node's neighbor nodes, and then selects the relay node again as the relay route between the source node and the target node. This step is repeated until the target node is reached.

[0096] After connecting all selected relay routes, the main path of the route between the source node and the target node is obtained.

[0097] The link quality, link predicted survival time and node reachability of neighboring nodes are weighted and calculated, and the node corresponding to the maximum value obtained by the calculation is used as the relay node.

[0098] The three indicators of neighbor node link quality, link prediction lifetime, and node reachability are weighted and calculated. The specific weighted calculation expression is:

[0099] in, is the weighted calculation result, is the link quality between UAV node i and UAV node j (referred to as node i and node j); is the weighting factor of link quality; Predict the lifetime of the link between node i and node j; The weighting factor corresponding to the link prediction lifetime; is the reachability of node j; is the weighting factor of node reachability; is the distance between node i and node j, is the communication range of drone node i. Among them, drone node i and drone node j are one-hop neighbor nodes. The weighting factors corresponding to the three variables are 、 、 satisfy , adjust the weights according to the focus of the flight ad hoc network.

[0100] The link quality of neighboring nodes is used to measure the quality level of the communication link between the adjacent nodes of the drone. When the link quality between the neighboring nodes is The smaller the value, the better the communication link quality is, and it is more suitable for the network environment of flight ad hoc network. Therefore, when considering the link quality, it is preferred to The node with the smallest value, that is:

[0101] Where, is the link quality level between neighboring nodes, is the set of one-hop neighbor nodes of node i, is the minimum link quality between node i and node j.

[0102] Link quality is measured by the expected number of transmissions (Count, ), then the formula for the link quality between node i and node j is:

[0103] Where, is the link quality between node i and node j; is the forwarding reception ratio, i.e., the probability that the data packet successfully reaches the receiving node; is the reverse reception ratio, which is the probability that an ACK (Acknowledgment) message is successfully received. In other words, link quality estimates the expected transmission of a data packet (including retransmissions) so that it will not be received incorrectly at the destination node. and reverse reception ratio It is measured by link detection through HELLO packets. In the optimized link state routing protocol, the forward reception ratio is Using exponential moving average to calculate, the expression is:

[0104] in, To receive the l Hello message forwarding reception ratio The value of To receive the l -1 Hello message forwarding reception ratio The value of To optimize the parameters of link state routing protocols, The value of is related to the accuracy of link quality estimation. The larger the value, the more average the reception ratio, resulting in a more stable and reliable estimate; The smaller it is, the greater the change in the reception ratio will be, which will prompt the node to send more HELLO packets to update the link quality. is the first coefficient value. If the first HELLO message packet is received, If not received, To simplify the calculation, the forward reception ratio and reverse reception ratio are calculated by using the ratio of HELLO messages sent by neighboring nodes received by the two nodes within a certain period. The calculation formula is as follows:

[0105]

[0106] Where, is the simplified forward-receive ratio; is the simplified reverse reception ratio; is the number of HELLO packets received by node j from node i; For nodes Send to node Number of HELLO groups; is the number of HELLO packets received by node i from node j; For nodes Send to node Then, the final link quality between node i and node j is expressed as:

[0107] The link quality of route R is the sum of the link quality metrics of the links that make up the route, and the calculation expression is:

[0108] Where, is the link quality corresponding to route R, is the link quality between node i and node j, both nodes i and j are on the routing path R; It is the sum of the link qualities of each neighboring node.

[0109] Link prediction survival time is mainly used to measure the stability of communication time between adjacent nodes of drones. The longer the communication link between nodes exists, the better the performance. Therefore:

[0110] Where, Predict the lifetime of the link, is the link holding time between node i and node j.

[0111] The formula for the link holding time between adjacent drone nodes is:

[0112]

[0113]

[0114] Where, Maintaining time for links between adjacent drone nodes; For nodes i and j, Axial speed difference; For nodes i and j, The distance difference in the axis direction, is the difference in the vertical direction of the velocity between nodes i and j, is the distance between node i and node j, is the speed of node i, For node i Axis speed, is the velocity of node j, For node j in Axis speed, satisfying , where r is the communication range between node i and node j, is the projection position of the node i in the x-axis direction, is the projection position of node j in the x-axis direction, is the projection position of node i in the y-axis direction, is the projection position of node j in the y-axis direction.

[0115] Node reachability is used to measure the number of two-hop neighbor nodes that the drone node can cover. The stronger the reachability, the more neighbors node j has. Therefore, this embodiment prioritizes the node with the highest reachability:

[0116] Where, For accessibility, is the maximum reachability of node j, is the reachability of node j.

[0117] In this embodiment, the one-hop neighbor nodes are stored in the drone's one-hop neighbor table. The node reachability of two-hop neighbor nodes with symmetric links to the one-hop neighbor node is obtained using the information in the one-hop neighbor table. A relay node is selected from the one-hop neighbor node with the highest node reachability.

[0118] If after one cycle the node When sending a HELLO message packet, the prediction node Still at the node Within the effective communication distance, the node It's the node Relay nodes to be selected; if after one cycle the node No longer in the node If the node is within the communication range, then node j is not within the selection range.

[0119] The backup routing path construction module constructs at least one backup routing path between the source node and the target node and stores the backup routing path; the backup routing path is obtained according to the relay node topology structure on the communication link between the source node and the target node.

[0120] A probabilistic graphical model is used to identify the drone nodes in the specified area from the source node to the target node, and a network topology is formed based on these drone nodes. During the initialization phase, each intermediate node maintains the local network topology within a range of m hops around it in order to obtain the invulnerability index of the node's network structure.

[0121] Using a priority search algorithm, all paths from a source node to a target node in the network topology are selected, and all paths other than the primary path that can reach the target node are selected as alternative survivable paths; A destruction-resistant cost model is constructed with the goal of minimizing the cost of restoration. All alternative paths are evaluated based on the model, and at least one optimal alternative destruction-resistant path is selected as a backup routing path. This selection of alternative destruction-resistant paths also involves screening backup paths based on node damage, eliminating paths containing damaged nodes and ultimately selecting the path with the fewest hops and shortest distance. Path mapping and visualization provide an intuitive display of the network topology and path selection results. This method effectively improves the robustness and fault tolerance of the drone swarm network, ensuring the continuity and reliability of data transmission.

[0122] Furthermore, in this embodiment, when a service is initiated from source node s to destination node q, the source node needs to send a route request (RREQ) to its neighboring nodes to satisfy the routing requirement. Upon receiving the request, the destination node returns a route confirmation (RREP) message. During this process, multiple paths are identified, and the optimal path is selected from these paths. To reduce the network resource usage of route establishment messages, a limited number of alternative, survivable paths are typically selected. In this embodiment, the number of alternative paths is set to three. To prevent route queries from entering loops, the number of hops in RREQ and RREP messages is limited to ensure that queries for backup routing paths do not time out.

[0123] Nodes exchange information with neighboring nodes to obtain the local network topology, and then calculate the node invulnerability selectivity index according to the corresponding invulnerability cost model.

[0124] Specifically, with the goal of minimizing the cost of service recovery, a survivability cost model is constructed and used to evaluate all alternative paths. The survivability cost model includes the routing index corresponding to the intermediate nodes of the alternative paths. The routing index calculation expression is:

[0125] Where, is the routing index of the kth candidate indestructible path from source node s to destination node q; is the weight of the optional index; is the optional index of the kth candidate indestructible path from the source node s to the target node q; is the weight of the delay index; is the delay index of the kth candidate survivable path from the source node s to the target node q; is the weight of the random network state matrix; are other state factor indices, expressed as random network state matrices; is the source node; is the target node; k is the alternative indestructible path. In this embodiment, different weight ratios can describe the different emphasis of the network parameters corresponding to the routing selection, but the weights corresponding to different variables are The sum is 1.

[0126] Among them, the optional index of the alternative anti-destruction path The optional index is obtained based on the corresponding invulnerability cost of the intermediate nodes of all alternative invulnerability paths. for:

[0127] Where, is the optional index of the kth candidate indestructible path from the source node s to the target node q, is the invulnerability cost of the kth alternative invulnerability path corresponding to the i-th intermediate node, is the kth candidate indestructible path from source node s to target node q, is the number of intermediate nodes included in the kth alternative indestructible path, is the set of all intermediate nodes included in the kth alternative indestructible path, i is the i-th intermediate node in the alternative indestructible path, It is the average invulnerability cost weight of all intermediate nodes after excluding the source node s and the target node q.

[0128] So, the cost of anti-destruction The calculation expression is:

[0129] Where, is the cost control coefficient; is the kth candidate indestructible path corresponding to node i; Representation node In case of failure, The cost factor of an alternative invulnerability path; Alternative survivability path Nodes in To Node A set of alternative paths; The number of optional paths. Also represents all path transformation schemes The sum of the cost factors generated. i represents a node in the alternative route; k is a minimum of 1 and a maximum of the number of path recovery solutions. Therefore, the survivability cost is used to further evaluate whether the survivability of the alternative path is within an acceptable range. The survivability of all paths can then be calculated and ranked, with the path with the lowest survivability cost being the preferred alternative.

[0130] In addition, this embodiment can also adjust the value range of the cost coefficient. The default value is 1, which means that the larger the coefficient, the larger the optional index parameter, and also means that some solutions with high anti-destruction costs may also be selected.

[0131] Latency Index Calculated by the number of node hops, the more node hops there are, the greater the possible delay index is. Therefore, the length of the path can be regarded as a criterion for judging the delay size. The calculation expression is:

[0132] Where, is the number of intermediate nodes included in the kth alternative indestructible path.

[0133] Relay node detection module, used to detect whether the relay node of the primary path is faulty and whether the faulty node appears on the backup routing path; The path switching module is used to query the backup routing path construction module according to the fault result output by the relay node detection module, and update the queried backup routing path to the routing table on the drone; The path reconstruction module is used to reconstruct the routing path between the source node and the target node based on the normal relay nodes when no backup routing path is found or all relay nodes appear on the backup routing path.

[0134] Specifically, the source node creates a route request message data packet and broadcasts the route request message to valid intermediate nodes in the network topology; All valid intermediate nodes that receive the route request message check whether the route request message has been processed. If not, the route request message is updated according to its own routing table and the updated route request message is broadcast. The valid intermediate nodes that receive the updated route request message repeat this step until the target node or a valid routing path is found. The valid routing path means that all nodes on the path to the target node are valid nodes. If it has been processed, the route request message is discarded, and the routing table is not updated or the route request message is not forwarded. If the node that receives the updated route request message is a valid node in the valid routing path or a target node, it generates a route reply message and returns it to the source node. After receiving the route reply message, the source node updates its own routing table, establishes a communication path with the target node, and completes the routing path reconstruction.

[0135] In addition, the process of reconstructing the routing path between the source node and the target node also includes repairing the faulty route. The repair steps include: Real-time detection of intermediate nodes. When an intermediate node fails, the failed node broadcasts a routing error message to the corresponding neighboring nodes. The neighboring node that receives the routing error message deletes the routing information of the faulty node from its own routing table, and rebroadcasts the routing request message to establish a new route until the routing path corresponding to the faulty node is replaced.

[0136] The reconstructed routing path is updated to the UAV’s routing table to achieve destruction-resistant routing for the UAV.

Claims

1. A resilient and invulnerable routing method for UAV networks, characterized in that: include: S1, build the main path of the route between the source node and the target node of the UAV; Construct at least one backup routing path between the source node and the target node; The primary path and the backup routing path are obtained by topologically connecting multiple relay nodes on the communication link; S2. When a relay node in the primary path fails, the routing path on the UAV is switched to the optimal backup routing path found; S3. When no backup routing path is found or all relay nodes appear on the backup routing path, the routing path between the source node and the destination node is rebuilt based on the normal relay nodes. S4. Send the reconstructed routing path to the UAV to achieve destruction-resistant routing for the UAV.

2. The resilient and indestructible routing method for UAV networks according to claim 1, characterized in that: The main path of the route between the source node and the target node of the drone is constructed, including: The source node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, and calculates the link quality, link predicted lifetime, and reachability of the neighbor nodes respectively; the neighbor nodes are drone nodes; Select a relay node that broadcasts the TC packet based on the link quality, link predicted lifetime, and node reachability of neighboring nodes, and use the relay node as a relay route. The relay node broadcasts a HELLO message to the surrounding nodes, obtains a set of one-hop neighbor nodes, calculates the link quality, link predicted lifetime, and reachability of the neighbor nodes of the relay node, and then selects the relay node as the relay route between the source node and the target node. The operation steps are repeated until the target node is reached. After connecting all selected relay routes, the main path of the route between the source node and the target node is obtained.

3. The resilient and indestructible routing method for UAV networks according to claim 2, characterized in that: The selection of a relay node for broadcasting a TC packet based on the link quality, link predicted lifetime, and node reachability of neighboring nodes specifically includes: The link quality, link predicted survival time and node reachability of neighboring nodes are weighted and calculated, and the node corresponding to the maximum value is used as the relay node.

4. The resilient and indestructible routing method for UAV networks according to claim 1, wherein: Construct at least one backup routing path between the source node and the target node, including: Using a probabilistic graphical model to determine the drone nodes in a specified area from the source node to the target node, and forming a network topology based on the drone nodes; Using a priority search algorithm, all paths from a source node to a target node in the network topology are selected, and all paths other than the primary path that can reach the target node are selected as alternative survivable paths; A destruction-resistant cost model is constructed with the minimum restoration cost as the goal; all alternative paths are evaluated according to the destruction-resistant cost model, and at least one optimal alternative destruction-resistant path is selected as the backup routing path.

5. The resilient and indestructible routing method for UAV networks according to claim 4, characterized in that: The invulnerability cost model includes the routing index corresponding to the intermediate nodes of the alternative path; the calculation expression of the routing index is: Where, is the routing index of the kth candidate indestructible path from source node s to destination node q; is the weight of the optional index; is the optional index of the kth candidate indestructible path from the source node s to the target node q; is the weight of the delay index; is the delay index of the kth candidate survivable path from the source node s to the target node q; is the weight of the random network state matrix; are other state factor indices, expressed as random network state matrices; is the source node; is the target node; k is the alternative invulnerable path.

6. The resilient and indestructible routing method for UAV networks according to claim 5, characterized in that: The selectivity index of the alternative invulnerability path is obtained according to the invulnerability cost corresponding to the intermediate node of the alternative invulnerability path. The selectivity index calculation formula is: Where, is the optional index of the kth candidate indestructible path from the source node s to the target node q, is the invulnerability cost of the kth alternative invulnerability path corresponding to the i-th intermediate node, is the kth candidate indestructible path from source node s to target node q, is the number of intermediate nodes included in the kth alternative indestructible path, is the set of all intermediate nodes included in the kth alternative indestructible path, i is the i-th intermediate node in the alternative indestructible path, It is the average invulnerability cost weight of all intermediate nodes after excluding the source node s and the target node q.

7. The resilient and indestructible routing method for UAV networks according to claim 1, wherein: The reconstructing the routing path between the source node and the target node based on the normal relay node includes: The source node creates a route request message data packet and broadcasts the route request message to valid intermediate nodes in the network topology; All valid intermediate nodes that receive the route request message check whether the route request message has been processed; if it has not been processed, the route request message is updated according to its own routing table and the updated route request message is broadcasted. The valid intermediate nodes that receive the updated route request message repeat the setting steps until the target node or a valid routing path is found; the valid routing path means that all nodes on the path corresponding to the target node are valid nodes; if it has been processed, the route request message is discarded, the routing table is not updated, and the route request message is not forwarded; the setting steps are to update the unprocessed route request message and broadcast the updated route request message; If the node that receives the updated route request message is a valid node in the valid routing path or a target node, it generates a route reply message and returns it to the source node. After receiving the route reply message, the source node updates its own routing table, establishes a communication path with the target node, and completes the routing path reconstruction.

8. The resilient and indestructible routing method for UAV networks according to claim 7, characterized in that: The process of reconstructing the routing path between the source node and the target node also includes repairing the faulty route. The repair steps include: Real-time detection of intermediate nodes. When an intermediate node fails, the failed node broadcasts a routing error message to the corresponding neighboring nodes. The neighboring node that receives the routing error message deletes the routing information of the faulty node from its own routing table, and rebroadcasts the routing request message to establish a new route until the routing path corresponding to the faulty node is replaced.

9. The resilient and indestructible routing method for UAV networks according to claim 7, wherein: All valid intermediate nodes that receive the route request message check the route request message and perform updates, specifically including: The valid intermediate node receiving the route request message detects the source address, destination address, source sequence number and broadcast count of the route request message; confirming whether the route request message has been processed based on the source address, destination address, source sequence number, and broadcast count of the route request message; If it has not been processed, the effective intermediate node updates its own routing table according to the routing request message, records the hop count and related routing information of the target node, and increases the hop count by 1.

10. A resilient and indestructible routing system for a drone network, used to implement the resilient and indestructible routing method for a drone network according to any one of claims 1 to 9, characterized in that: include: The main path construction module is used to construct the main path of the UAV's routing between the source node and the target node according to the relay node topology structure on the communication link between the source node and the target node; A backup routing path building module builds at least one backup routing path between the source node and the target node and stores it; The backup routing path is obtained based on the topology of relay nodes on the communication link between the source node and the target node; Relay node detection module, used to detect whether the relay node of the primary path is faulty and whether the faulty node appears on the backup routing path; The path switching module is used to query the backup routing path construction module according to the fault result output by the relay node detection module, and update the queried backup routing path to the routing table on the drone; A path reconstruction module is used to reconstruct the routing path between the source node and the target node based on the normal relay nodes when no backup routing path is found or all relay nodes appear on the backup routing path; The reconstructed routing path is updated to the routing table of the drone to achieve destruction-resistant routing of the drone.

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