A blockchain-based drone network communication method

Abstract

This invention discloses a blockchain-based drone network communication method in the field of drone communication technology, comprising: S1, the drone prepares to send a message; S2, executing the ABC routing protocol to search for candidate drones as relay nodes; S3, mapping to a digital twin, mapping the sending drone A, the receiving drone B, and several candidate relay nodes selected by the routing protocol to the network space to form a deterministic network CyberNet; S4, executing blockchain consensus, determining the most suitable drone as a relay node based on the coding capabilities of the candidate relay nodes, and selecting multiple candidate relay nodes; S5, executing network coding, CyberNet informing the physical world of the consensus result, the optimal relay node forwarding the message to the receiving drone, and the receiving drone receiving the message. This invention avoids global negotiation in the drone network, avoiding unnecessary communication overhead; and introduces blockchain into the static structure to improve the security of the drone network.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) communication technology, and in particular to a UAV communication method. Background Technology

[0002] Unmanned aerial vehicles (UAVs) have rapidly developed in various human activities and have become an integral part of the satellite-air-ground-sea (SAGS) integrated network. As high-speed moving objects, UAVs not only have extremely strict requirements on communication latency, but also cannot be maliciously controlled by attackers as weapons.

[0003] To accommodate the rapid movement of drones, efficient routing protocols are needed to improve communication performance and efficiency. Examples include location-based routing protocols and drone network layout-based routing protocols. However, routing protocols can only improve the communication efficiency of drone networks, but cannot solve the existing communication security problems within them. Emerging blockchain technology offers a feasible solution to the security issues of drone networks. It can effectively avoid many security problems of traditional encryption algorithms, such as single points of failure. Currently, blockchain-based research in drone networks includes trusted frameworks and network architectures, protocol stacks, and key control methods.

[0004] In drone networks, the dynamic joining and leaving of drones leads to unstable blockchain connections, affecting consensus efficiency. Consensus achievement is dependent on participating nodes, and multiple rounds of physical-to-physical communication (P2PC) slow down communication efficiency. The development of DT (Digital Technology) provides a solution by constructing digital replicas to map physical entities to cyberspace, converting it into virtual-to-virtual communication (V2VC). This technology shows great potential in drone management. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a blockchain-based drone network communication method. It employs an improved ABC routing protocol, selecting several suitable candidate drones as candidate relay nodes for subsequent blockchain consensus to determine the range, thus avoiding global negotiation within the drone network and unnecessary communication overhead. Furthermore, to prevent instability in the blockchain link caused by the high-speed movement of drones, the concept of DT is introduced, mapping drones in physical space to cyberspace, transforming the high-speed drone network into a static network, and introducing blockchain into this static network to improve its security.

[0006] The objective of this invention is achieved as follows: a blockchain-based drone network communication method, comprising:

[0007] S1. The drone is preparing to send a message;

[0008] S2. Execute the ABC routing protocol to search for candidate drones as relay nodes;

[0009] S3. Mapping to digital twins: Map the sending drone A, the receiving drone B, and several candidate relay nodes selected by the routing protocol to the network space to form a deterministic network CyberNet.

[0010] S4. Execute blockchain consensus, determine the most suitable drone as a relay node based on the coding capabilities of the candidate relay nodes, and select multiple candidate relay nodes for the sender node through the ABC routing protocol in S2.

[0011] S5. Execute network encoding. CyberNet informs the physical space of the consensus result. The optimal relay node determined by the blockchain consensus forwards the message to the receiving drone, and the receiving drone receives the message.

[0012] Furthermore, the specific steps for executing the ABC routing protocol in S2 are as follows:

[0013] 2-1) Initialization phase: All hired bee messages are reconnaissance BMs. They have no prior knowledge and need to explore the environment to find the best food drones. Bee messages are abbreviated as BMs, and reconnaissance BMs are abbreviated as SBMs.

[0014] 2-2) SBMs locate food sources: SBMs calculate the fitness of the drone to determine whether it is the optimal food drone. The calculation formula is as follows:

[0015]

[0016]

[0017] in, Indicates the first For each drone, 'a' represents the weight of the drone's equipment load, and 'b' represents the weight of the drone's transmission success rate, satisfying the following conditions: ;

[0018] 2-3) SBMs transform into Employed BMs (EBMs): Once the optimal food drone is found, SBMs transform into Employed EBMs and begin "feeding." Considering communication overhead and latency, EBMs do not return to the hive to notify Observing BMs (OBMs). Instead, they are stored in a priority set. In addition, a congestion factor is set in the food drone, which represents the number of bee messages arriving at the food drone. If the congestion factor is less than the limit, the EBMs stay in the food drone; if it is equal to the limit, it means that the food drone has been fully exploited, and the EBMs are converted into SBMs and continue to look for new food drones.

[0019] 2-4) Selection and Update of OBMs: When the OBMs arrive at the current food drone, calculate the selection probability of the food drones stored in set P according to the following formula ;

[0020]

[0021] Judge whether to replace the food drone according to the congestion factor and the limit value. If the congestion factor is less than the limit, the OBMs remain in the current food drone; if it is equal to the limit, the OBMs delete the target drone from set P and select other food drones, satisfying <limit. During the selection process, the OBMs may transform into EBMs. If no better food drone is found in P, the OBMs will transform into SBMs; Through the above steps, the BM can find candidate drones as the relay nodes for the next-hop transmission and put them into set P.

[0022] Furthermore, the construction of CyberNet in S3 involves three parts: physical space, cyber space, and the link between physical space and cyber space. The specific steps are as follows:

[0023] 3-1) Identification and Mapping of Physical Entities: In the physical space, it is first necessary to identify and define physical entities such as drone A, drone B, and candidate relay nodes, which are responsible for collecting data from items and the environment in real time or executing relevant instructions;

[0024] 3-2) Creation of Digital Twins: In the cyber space, create corresponding digital twins for each physical entity. These digital twins are the virtual representations of physical entities and interact and synchronize with their physical counterparts in the real world in real time;

[0025] 3-3) Integration of the IoDT Engine: The IoDT engine is used to connect physical entities and digital twins, connecting the network and physical space through the input big data and output feedback;

[0026] 3-4) Construction of Cyber Space: In the cyber space, construct CyberNet, which is a static network that includes the digital twins of drone A, drone B, and candidate relay nodes. The construction of CyberNet needs to support network slicing technology to provide customized resources for different services to adapt to different business scenarios;

[0027] 3-5) Linking Physical Space and Cyber Space: Through the IoDT engine, achieve data interaction and information closed-loop between physical space and cyber space;

[0028] 3-6) Implement deterministic networking technology: Implement deterministic networking technology in CyberNet to achieve data stream transmission capabilities with low packet loss rate and bounded end-to-end latency; through the above steps, CyberNet realizes the digital mapping of UAV networks in physical space to cyberspace.

[0029] Furthermore, the specific process of S4 is as follows:

[0030] 4-1) Select candidate relay nodes using the ABC routing protocol and map them to the network space;

[0031] 4-2) The candidate relay nodes form the blockchain system CyberNet in cyberspace;

[0032] 4-3) Each node provides its own encoding scheme for forwarding messages, where the actions of each node occur simultaneously and in parallel;

[0033] 4-4) Other nodes verify the encoding scheme provided by a certain node;

[0034] 4-5) After verification, all nodes exchange their views on each encoding scheme;

[0035] 4-6) Determine the optimal encoding scheme based on the opinions of all nodes;

[0036] 4-7) After determining the optimal encoding scheme, the provider of the scheme will broadcast the optimal encoding scheme to all nodes in the blockchain;

[0037] 4-8) When more than 50% of the nodes broadcast and approve the encoding scheme, the provider of the scheme is determined as the final relay node and performs the encoding scheme on the forwarded messages; if the scheme is not supported by more than 50% of the nodes, the consensus will return to step 2 and select a new encoding scheme.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0039] 1. In order to improve message transmission rate and consensus efficiency, this invention adopts the ABC improved routing protocol, selects suitable candidate drones as candidate relay nodes, defines the scope of subsequent blockchain consensus, and avoids global negotiation of drone network and unnecessary communication overhead.

[0040] 2. To prevent the high-speed movement of drones from causing instability in the blockchain network, the concept of DT (Digital Technology) is introduced. This maps drones in the physical space to the cyberspace, transforming the high-speed drone network into a static network, named a "virtual drone network." Then, blockchain is introduced into the virtual drone network to improve its security. The virtual drone network exhibits a higher consensus success rate in the DT network compared to the mobile drone network.

[0041] 3. To further improve consensus efficiency and increase throughput, a consensus algorithm based on network coding is proposed for a blockchain system composed of static networks in a virtual drone network, aiming to further enhance network throughput. It replaces the meaningless mining behavior in PoW with meaningful coding actions. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0043] Figure 1 This is a flowchart of the present invention.

[0044] Figure 2 This is a schematic diagram illustrating the conversion relationship between EBMs, SBMs, and OBMs in this invention.

[0045] Figure 3 This describes the construction process of CyberNet in this invention.

[0046] Figure 4 This is the network topology of CN in this invention.

[0047] Figure 5 This represents the message forwarding path in the network in this invention.

[0048] Figure 6 This is a schematic diagram of the blockchain consensus process in this invention. Detailed Implementation

[0049] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] like Figure 1 As shown, a blockchain-based drone network communication method includes the following steps:

[0051] S1. The drone is ready to send a message.

[0052] S2. Execute the ABC routing protocol to search for candidate drones as relay nodes. It's important to note that while this method uses the ABC algorithm to improve the routing protocol, it doesn't directly determine the final communication path based on the routing protocol. Instead, it uses the ABC algorithm to find several suitable candidate relay nodes, which are then used by the subsequent blockchain consensus to determine the optimal relay node. This design avoids the security problem of the routing protocol selecting a single path for message transmission, thus preventing interception by attackers.

[0053] The ABC algorithm, or Artificial Bee Colony algorithm, is a swarm intelligence optimization algorithm that simulates the foraging behavior of bees. The core of this algorithm lies in simulating the foraging behavior of bees, dividing them into three roles: employed bees, onlooker bees, and scout bees. These three types of bees cooperate to find the optimal solution, namely, the "nectar source with the largest nectar yield." In the algorithm, the location of each nectar source represents a possible solution, and the amount of nectar from the nectar source corresponds to the quality (fitness) of that solution.

[0054] In this ABC routing protocol, the drone network is likened to a bee colony, and the drones are considered food sources. Within this framework, drones in the network periodically generate messages containing their communication range; these messages are referred to as bee messages (BM). The ABC algorithm optimizes routing within the network by simulating bee foraging behavior, thereby improving communication efficiency and network performance. The specific steps of the protocol in step S2 are as follows:

[0055] 1) Initialization phase: All employed bee messages (BMs) are reconnaissance BMs (SBMs). They have no prior knowledge and need to explore the environment to find the best food source (drones).

[0056] 2) SBMs Locate Food Sources: SBMs calculate the fitness of drones to determine if they are the optimal food drones. Each drone has two state parameters: device load state and transmission success rate. Fitness can be calculated using the following formula, where a and b are the weights of device load and transmission success rate, respectively, satisfying... .

[0057]

[0058] 3) SBMs transform into EBMs: Once the optimal food drone is found, the SBMs transform into employing BMs (EBMs) and begin "feeding". Considering communication overhead and latency, the EBMs do not return to the hive to notify the observing BMs (OBMs). Instead, they are stored in a priority set. In addition, a congestion factor needs to be additionally set in the food drone to represent the number of BMs reaching the food drone. If the congestion factor is less than the limit, the EBMs stay in the food drone; if it is equal to the limit, it means the food drone has been fully exploited, and the EBMs are converted into SBMs and continue to search for new food drones.

[0059] 4) Selection and update of OBMs: When the OBMs reach the current food drone, calculate the selection probability of the food drones stored in the set P according to the following formula .

[0060]

[0061] Meanwhile, judge whether to replace the food drone according to the congestion factor and the limit value. If the congestion factor is less than the limit, the OBMs stay in the current food drone; if it is equal to the limit, the OBMs delete the target drone from the set P and select other food drones (satisfying x < limit). During the selection process, the OBMs may be converted into EBMs. If no better food drone is found in P, the OBMs will be converted into SBMs.

[0062] Through the above steps, the BM can find candidate drones as relay nodes for the next-hop transmission and put them into the set P. The conversion relationships among EBMs, SBMs, and OBMs are as shown in the process Figure 2 shown.

[0063] Executing the ABC routing protocol in step S2 brings the following two benefits to this solution: First, as an efficient bionic algorithm, ABC can improve the communication efficiency of the drone network. Second, the ABC routing delimits the consensus scope for the blockchain, that is, the candidate relay drones. In the blockchain, the communication method between each replica is V2VC (Vehicle-to-Vehicle Communication), and this method is not restricted by physical channels. This means that, compared with the traditional P2PC (Peer-to-Peer Communication), V2VC allows the nodes (drones) in the drone network to communicate in the virtual space (Cyberspace) through digital replicas, rather than relying on direct connections in the physical space. This method can avoid all drones from participating in the consensus, thus reducing the communication overhead.

[0064] S3. Mapping to Digital Twin (DT). Using the concept of DT, the sending drone A, the receiving drone B, and several candidate relay nodes selected by the routing protocol are mapped to cyberspace, forming a deterministic network, CyberNet. Since the nodes in the virtual world are merely digital copies of the drones in the physical space and fly at slower speeds, CyberNet is a static network. In the CyberUAV framework, digital twin technology is used to map drones and their network environment in the physical space to cyberspace, forming a static deterministic network, CyberNet. Such a network can be used to simulate and model the operational state of drone networks, thereby designing computational task offloading mechanisms for intelligent terminal devices, optimizing resource allocation, and improving the effectiveness of drone networks. In this way, the CyberUAV framework can achieve deep integration of physical and cyberspace, providing strong support for the management and optimization of drone networks. The CyberUAV framework is as follows: Figure 3 As shown, the construction of CyberNet involves three parts: physical space, network space, and the link between physical space and network space.

[0065] The CyberNet construction in step S3 above involves three parts: physical space, network space, and the link between physical space and network space. The specific steps are as follows:

[0066] 1) Identification and Mapping of Physical Entities (PEs): In the physical space, it is first necessary to identify and define physical entities such as UAV A, UAV B, and candidate relay nodes. These entities are the foundation of CyberNet and perform specific tasks and functions in the physical space. Physical entities can be sensing PEs, control PEs, hybrid PEs, and infrastructure PEs, and they are responsible for collecting data from objects and the environment in real time or executing related instructions.

[0067] 2) Creation of digital twins: In cyberspace, a corresponding digital twin is created for each physical entity. These digital twins are virtual representations of the physical entities, which can be instantiated by computer programs or software models and interact and synchronize with their physical counterparts in the real world in real time.

[0068] 3) Integration of the IoDT Engine: The IoDT engine is the key to connecting physical entities and digital twins. It connects the network and physical space through big data input and feedback output.

[0069] 4) Cyberspace Construction: In cyberspace, CyberNet is constructed. This is a static network containing digital twins of drone A, drone B, and candidate relay nodes. The construction of CyberNet needs to support network slicing technology to provide tailored resources for different services to adapt to different business scenarios.

[0070] 5) Linking physical and cyberspace: Through the IoDT engine, data interaction and information loops between physical and cyberspace are realized. This includes data acquisition and control entities, mainly covering technologies such as sensing, control, and identification, which are responsible for collecting uplink sensing data and executing downlink control commands between the twin and the physical object.

[0071] 6) Implementation of deterministic networking technology: Deterministic networking technology is implemented in CyberNet to achieve data stream transmission capabilities with low packet loss rate and bounded end-to-end latency.

[0072] Through the steps described above, CyberNet can realize the digital mapping of drone networks in physical space to cyberspace, providing strong support for the management and optimization of drone networks.

[0073] S4. Execute blockchain consensus and determine the most suitable drone as the relay node based on the coding capabilities of the candidate relay nodes. Multiple candidate relay nodes are selected for the sender node using the ABC routing protocol from step S2. For example... Figure 4 As shown, when sender node 1 sends message A to receiver node 8, it can pass through three paths via three backbone nodes. Therefore, we need to use a suitable consensus algorithm to determine the optimal relay node to encode and forward message A. Since the purpose of selecting nodes is to find a suitable relay node to encode message A, this scheme uses the encoding capability of candidate relay nodes as an evaluation factor. Furthermore, encoding, similar to mining, requires certain computational resources; therefore, we choose to design the PoNC consensus of this scheme based on PoW consensus.

[0074] The PoNC consensus mechanism imagines relay nodes, which play the role of encoding and forwarding messages, as "coders." Simultaneously, the encoding capabilities of each candidate relay node are verified in parallel, saving verification time and improving the overall efficiency of the scheme. The specific consensus process is as follows: Figure 5 As shown, the steps are as follows:

[0075] 1) Select candidate relay nodes using the ABC routing protocol and map them to the network space.

[0076] 2) These candidate relay nodes form the blockchain system CyberNet in cyberspace.

[0077] 3) Each node provides its own encoding scheme for forwarding messages, where the actions of each node occur simultaneously and in parallel.

[0078] 4) Other nodes verify the encoding scheme provided by a given node. For example, if the encoding scheme comes from candidate relay node R1, then the other candidate relay nodes R2, R3, ..., Rk will verify its superiority.

[0079] 5) After verification, all nodes exchange their views on each encoding scheme.

[0080] 6) Determine the optimal encoding scheme based on the views of all nodes.

[0081] 7) Once the optimal encoding scheme is determined, the provider of the scheme will broadcast the optimal encoding scheme to all nodes in the blockchain.

[0082] 8) When more than 50% of the nodes broadcast and approve the encoding scheme, the provider of the scheme is determined as the final relay node and performs the encoding scheme on the forwarded messages. If the scheme is not supported by more than 50% of the nodes, the consensus will return to step 2 and select a new encoding scheme.

[0083] The PoNC process described above offers the following benefits to this scheme: First, PoNC selects the relay drone with the best coding capability, determining not only the relay node but also the coding scheme during the consensus process. Second, coding is a meaningful activity in the network, avoiding the significant computational waste associated with PoW consensus. Although the coding schemes of some candidate relay drones are not adopted, they can serve as backups when the selected relay drone fails. These drones may also act as the best relay nodes for other receiving drones, thus ensuring that the coding scheme is effective and computational resources are not wasted. Third, coding can further improve the throughput of the drone network.

[0084] S5. Execute network encoding. CyberNet informs the physical space of the consensus result, and the optimal relay node determined by the blockchain consensus forwards the message to the receiving drone. Finally, the receiving drone receives the message.

[0085] In step S5, by mapping the sending drone, receiving drone, and candidate relay drone from the drone network, CyberNet forms a special static network called the Composite Network (CN) because CN has advantages in encoding and cost. CN is a special type of multicast network with a structure similar to a multi-way tree. The network consists of three layers: sending nodes, relay nodes, and receiving nodes. In this scheme, the number of sending nodes and relay nodes is 1 and n respectively, and the number of receiving nodes is m (this depends on how many receiving nodes the sending node needs to send messages to, as in practical applications, the sending node may send messages to different receiving nodes). Simultaneously, each receiving node connects to k relay nodes (which can be determined through a routing protocol). Generally, k is less than n because the n relay nodes may include relay nodes corresponding to other receiving nodes. The topology expression of CN is... . Figure 6 They were given respectively , and The CN topology.

[0086] According to CN theory, the encoded vectors of k messages from k relay nodes are linearly independent and can be directly decoded, thus reducing decoding complexity. Since the receiving node may receive encoded messages forwarded by different relay nodes, it needs to determine which relay node forwarded the message before decoding. When the receiving node receives messages forwarded by different relay nodes, it only needs to determine the linear correlation of the multi-channel encoded vectors to find the corresponding relay node for decoding.

[0087] The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A blockchain-based unmanned aerial vehicle (UAV) network communication method, characterized in that, include: S1. The sending drone A is preparing to send a message; S2. Execute the artificial bee colony ABC routing protocol to search for candidate drones as relay nodes; S3. Identify and define physical entities, including the sending drone A, the receiving drone B, and candidate relay nodes; In cyberspace, a corresponding digital twin is created for each physical entity, mapping the sender drone A, the receiver drone B, and several candidate relay nodes selected by the routing protocol to cyberspace to form a deterministic network CyberNet. S4. Execute blockchain consensus and select multiple candidate relay nodes for the sender node based on the ABC routing protocol in S2; determine the most suitable drone as the optimal relay node based on the encoding scheme of the forwarded messages of the candidate relay nodes. S5. Execute network encoding. CyberNet informs the physical space of the consensus result. The optimal relay node determined by the blockchain consensus forwards the message to the receiving drone, and the receiving drone receives the message.

2. The method for unmanned aerial vehicle (UAV) network communication based on blockchain according to claim 1, characterized in that, The specific steps for executing the ABC routing protocol in S2 are as follows: 2-1) Initialization phase: All hired bee messages are reconnaissance BMs. They have no prior knowledge and need to explore the environment to find the best food drones. Bee messages are abbreviated as BMs, and reconnaissance BMs are abbreviated as SBMs. 2-2) SBMs find food sources: SBMs calculate the fitness of the drone to determine whether it is the optimal food drone. The calculation formula is as follows: ； ； in, Indicates the first For each drone, 'a' represents the weight of the drone's equipment load, and 'b' represents the weight of the drone's transmission success rate, satisfying the following conditions: ; 2-3) SBMs transform into Employed BMs (EBMs): Once the optimal food drone is found, SBMs transform into Employed EBMs and begin "feeding." Considering communication overhead and latency, EBMs do not return to the hive to notify Observer BMs (OBMs). Instead, they are stored in a priority set. In addition, a congestion factor is set in the food drone, which represents the number of bee messages arriving at the food drone. If the congestion factor is less than the limit, the EBMs stay in the food drone; if it is equal to the limit, it means that the food drone has been fully exploited, and the EBMs are converted into SBMs and continue to look for new food drones. 2-4) Selection and Update of OBMs: When an OBM arrives at the current food drone, the selection probability of the food drone stored in set P is calculated according to the following formula. ; ； Judge whether to replace the food drone according to the congestion factor and the limit value. If the congestion factor is less than the limit, the OBMs remain in the current food drone; if it is equal to the limit, the OBMs delete the target drone from the set P and select other food drones to satisfy <limit. During the selection process, the OBMs may transform into EBMs. If no better food drone is found in P, the OBMs will transform into SBMs; through the above steps, the BM can find candidate drones as relay nodes for the next-hop transmission and put them into the set P.

3. The blockchain-based drone network communication method according to claim 1, characterized in that, The construction of CyberNet in S3 involves three parts: physical space, network space, and the link between physical space and network space. The specific steps include: 3-1) Identifying and mapping physical entities: In the physical space, it is first necessary to identify and define physical entities such as UAV A, UAV B, and candidate relay nodes, which are responsible for collecting data from objects and the environment in real time or executing relevant instructions. 3-2) Creating digital twins: In cyberspace, a corresponding digital twin is created for each physical entity. These digital twins are virtual representations of the physical entities and interact and synchronize with their physical counterparts in the real world in real time. 3-3) Integrating the IoDT engine: The IoDT engine is used to connect physical entities and digital twins, linking the network and physical space through big data input and feedback output; 3-4) Constructing the cyberspace: In the cyberspace, construct CyberNet, which is a static network containing digital twins of drone A, drone B, and candidate relay nodes. The construction of CyberNet needs to support network slicing technology to provide tailored resources for different services to adapt to different business scenarios. 3-5) Linking physical space and cyberspace: Through the IoDT engine, data interaction and information loop between physical space and cyberspace are realized; 3-6) Implement deterministic networking technology: Implement deterministic networking technology in CyberNet to achieve data stream transmission capabilities with low packet loss rate and bounded end-to-end latency; through the above steps, CyberNet realizes the digital mapping of UAV networks in physical space to cyberspace.

4. The method for unmanned aerial vehicle (UAV) network communication based on blockchain according to claim 1, characterized in that, The specific process for S4 is as follows: 4-1) Select candidate relay nodes using the ABC routing protocol and map them to the network space; 4-2) The candidate relay nodes form the blockchain system CyberNet in cyberspace; 4-3) Each node provides its own encoding scheme for forwarding messages, where the actions of each node occur simultaneously and in parallel; 4-4) Other nodes verify the encoding scheme provided by a certain node; 4-5) After verification, all nodes exchange their views on each encoding scheme; 4-6) Determine the optimal encoding scheme based on the opinions of all nodes; 4-7) After determining the optimal encoding scheme, the provider of the scheme will broadcast the optimal encoding scheme to all nodes in the blockchain; 4-8) When more than 50% of the nodes broadcast and approve the encoding scheme, the provider of the scheme is determined as the final relay node and performs the encoding scheme on the forwarded messages; if the scheme is not supported by more than 50% of the nodes, the consensus will return to step 2 and select a new encoding scheme.

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