Unmanned aerial vehicle cluster identity registration method, updating method, system and device and readable storage medium

Abstract

The invention discloses an unmanned aerial vehicle cluster identity registration method, updating method, system and device, and a readable storage medium. The registration method comprises the following steps: in response to a registration request of a newly-added unmanned aerial vehicle, allocating a unique identity identifier and an update key to the newly-added unmanned aerial vehicle; establishing an information vector of the newly-added unmanned aerial vehicle, updating the information vector of the newly-added unmanned aerial vehicle to the unmanned aerial vehicle cluster vector, updating the global commitment at the current moment based on the information vector of the newly-added unmanned aerial vehicle, the update key and the global commitment at the previous moment, and generating update information; and writing the updated global commitment into the block chain and broadcasting update information to the block chain, so that other unmanned aerial vehicle nodes in the cluster update own identity credentials based on the update information. Compared with the prior art, the method has the advantage that the constant-level on-chain storage overhead is realized. And on the other hand, the block chain characteristics and cryptographic primitives are also combined, so that the decentralization and anti-attack capabilities are ensured. The method comprehensively realizes better cluster identity registration and updating, and has higher adaptability.

Description

Technical Field

[0001] This invention belongs to the field of network communication technology, and specifically relates to a method, update method, system, device and readable storage medium for unmanned aerial vehicle (UAV) swarm identity registration. Background Technology

[0002] In recent years, unmanned systems technology has developed rapidly. With its flexible deployment methods and excellent environmental adaptability, drones have gradually become an important infrastructure in aerospace information networks. Especially in fields such as intelligent transportation, environmental monitoring, emergency response, and logistics delivery, collaborative operation modes represented by drone swarms are gradually changing traditional operational patterns.

[0003] Early drone identity registration schemes relied on centralized architectures, with Public Key Infrastructure (PKI) being the most typical. Raya and Hubaux pioneered the introduction of PKI into self-organizing networks, achieving node anonymity by preloading a large number of key pairs. However, the resulting certificate registration and revocation mechanisms required periodic broadcasting of revocation lists (CRLs), causing storage overhead to increase dramatically with cluster size. Furthermore, centralized CA nodes in PKI schemes are prone to becoming single points of failure, severely limiting their application in highly dynamic and adversarial environments. To overcome the centralized shortcomings of PKI schemes, some studies have proposed group signature methods, where group administrators issue keys to achieve anonymous authentication of members. This alleviates node storage pressure to some extent, but when a member is revoked, global parameters need to be reconstructed, leading to significant computational and communication burdens.

[0004] Therefore, to address the aforementioned technical issues, it is necessary to provide a method, update method, system, device, and readable storage medium for unmanned aerial vehicle (UAV) swarm identity registration.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a method, update method, system, device and readable storage medium for unmanned aerial vehicle (UAV) swarm identity registration, which can achieve lightweight new UAV swarm registration and information maintenance while ensuring security.

[0007] To achieve the above objectives, a specific embodiment of the present invention provides the following technical solution:

[0008] In a first aspect, the present invention provides a method for unmanned aerial vehicle (UAV) cluster identity registration, applied to an edge server side, comprising:

[0009] If the number of drones in the current cluster is less than the preset maximum drone capacity, then in response to the registration request of a new drone, a unique identifier and an update key are assigned to the new drone.

[0010] Establish an information vector for newly added drones, and update the drone cluster vector with the information vector of the newly added drones.

[0011] Based on the information vector of the newly added UAV, the update key, and the global commitment at the previous moment, update the global commitment at the current moment and generate update information;

[0012] The updated global commitment is written to the blockchain and the update information is broadcast to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

[0013] In one or more embodiments of the present invention, the method further includes:

[0014] Based on the proof key generated by the cloud server, the position index of the newly added drone in the drone cluster vector, and the updated drone cluster vector, an identity credential is generated for the newly added drone.

[0015] After the blockchain confirms the updated information, the identity credential is sent to the newly added drone so that the newly added drone stores the identity credential.

[0016] In one or more embodiments of the present invention, before assigning a unique identifier and updating the key to the newly added drone, the method further includes:

[0017] Parse the registration request of the newly added drone to obtain the public key of the newly added drone, the random number signature based on the private key of the newly added drone, and the value of the random number;

[0018] Based on the public key of the newly added drone, the random number signature is decoded;

[0019] If the random number obtained by decoding is inconsistent with the value of the random number carried in the registration request, the registration of the newly added drone will be terminated and an alarm signal will be reported.

[0020] If the decoded random number matches the value of the random number carried in the registration request, then a unique identifier and an update key are assigned to the newly added drone.

[0021] In one or more embodiments of the present invention, the method further includes performing trusted settings by a cloud server before the drone cluster identity registration, specifically including:

[0022] Configure the maximum drone capacity within the cluster, and generate an updated key set and proof key based on the maximum drone capacity;

[0023] An initial global commitment is calculated based on a preset zero initial vector and the proof key, and the initial global commitment is written into the genesis block of the blockchain, wherein the number of elements in the preset zero initial vector is greater than or equal to the maximum drone capacity.

[0024] In one or more embodiments of the present invention, before the drone cluster identity registration, the method further includes:

[0025] The identity information of each drone in the cluster is encoded into an information vector corresponding to the drone, and the information vectors are aggregated into a drone cluster vector; the identity information includes the drone's identity identifier, public key, and hash value of update key.

[0026] Secondly, this invention provides a method for updating the identity of a drone cluster, applied to an edge server, comprising:

[0027] In response to the identity update request of the drone to be updated, verify the validity of the identity update request and the legality of the update key carried in the identity update request;

[0028] If the identity update request is valid and the update key is valid, a new information vector is established based on the changed identity information of the UAV to be updated, and the difference between the new information vector and the original information vector is calculated.

[0029] Based on the difference between the new information vector and the original information vector of the UAV to be updated, the update key, and the global commitment at the previous moment, the global commitment at the current moment is updated and the update information is generated.

[0030] The updated global commitment is written to the blockchain and the update information is broadcast to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

[0031] Thirdly, this invention provides a method for drone swarm identity registration / update, applied to the drone side, comprising:

[0032] Obtain the public and private keys of the newly added or updated drone, and sign a random number based on the private key;

[0033] Based on the public key of the newly added drone or the drone to be updated, the random number signature, and the value of the random number, a registration request or identity update request is constructed.

[0034] The registration request or identity update request is sent to the edge server.

[0035] Fourthly, the present invention provides a drone swarm identity registration system, comprising:

[0036] The allocation module is used to allocate a unique identifier and update key to the newly added drone in response to the registration request of the newly added drone if the number of drones in the current cluster is less than the preset maximum drone capacity value.

[0037] The module is used to establish the information vector of newly added drones and update the information vector of the newly added drones to the drone cluster vector.

[0038] The first update module is used to update the global commitment at the current moment and generate update information based on the information vector of the newly added UAV, the update key and the global commitment at the previous moment;

[0039] The second update module is used to write the updated global commitment into the blockchain and broadcast the update information to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

[0040] Fifthly, the present invention provides a computer device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to perform the UAV swarm identity registration method and / or the UAV swarm identity update method.

[0041] In a sixth aspect, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the UAV swarm identity registration method and / or UAV swarm identity update method.

[0042] Compared with existing technologies, the UAV swarm identity registration and update methods provided in this invention address the highly dynamic and resource-constrained characteristics of UAV swarms by proposing a lightweight dynamic identity authentication framework based on blockchain and aggregatable subvector commitments (aSVC). By compressing the swarm identity state into a single on-chain commitment value, constant-level on-chain storage overhead is achieved, effectively solving the bottleneck problem of traditional blockchain's difficulty in applying to resource-constrained UAV devices under high storage requirements. Furthermore, this invention combines blockchain characteristics with cryptographic primitives to ensure decentralization and attack resistance at the design level. Overall, it achieves superior swarm identity registration and update, exhibiting greater adaptability. Attached Figure Description

[0043] 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 some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a schematic diagram illustrating an implementation scenario of the UAV cluster identity registration method and / or UAV cluster identity update method in one embodiment of the present invention;

[0045] Figure 2 This is a flowchart illustrating a drone cluster identity registration method according to an embodiment of the present invention;

[0046] Figure 3 This is a flowchart illustrating the drone cluster identity update method in another embodiment of the present invention;

[0047] Figure 4 This is a structural block diagram of a drone cluster identity registration system according to an embodiment of the present invention;

[0048] Figure 5 This is a structural block diagram of a drone cluster identity update system according to an embodiment of the present invention;

[0049] Figure 6 This is a structural block diagram of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0050] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0051] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0052] Please refer to Figure 1 The diagram illustrates an application scenario of the drone cluster identity registration method and / or drone cluster identity update method provided by the present invention under one embodiment. The scenario specifically includes: cloud server 101, edge server 102, drone node 103, and blockchain network 104.

[0053] It should be noted that the cloud server 101, edge server 102, drone node 103, and blockchain network 104 are all connected by communication links. The communication networks derived from these links can include various connection types, including but not limited to wired connections, wireless connections, or fiber optic cable connections. Furthermore, this communication network can be a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), or any combination of these three.

[0054] Specifically, Cloud Server 101 acts as the trusted setup center in this invention, undertaking the responsibility of one-time trusted setup. It is responsible for running the aSVC key generation algorithm and creating globally common parameters, including: a proof key, a verification key (securely distributed to all edge servers for verification), and an update key (generating a unique update key for each possible drone identity slot in the system and securely distributing it to the corresponding drone). Once the Cloud Server completes initialization, its core mission is accomplished, ensuring the singularity and security of the system's key source, while simultaneously enabling subsequent drone swarm operations to meet the requirements of decentralization.

[0055] The Edge Server 102 is the core of this invention for identity registration, updating, and blockchain consensus. Its dual role is manifested in: efficient registration of new drones and updating and reaching consensus on the status of drones within the cluster. This state consensus, acting as a full node in the blockchain, is responsible for processing drone registration, deregistration, or status change requests, updating global commitments, and broadcasting them to the entire blockchain network through the consensus mechanism.

[0056] UAV Node 103, as the system's terminal device, is a lightweight, stateless terminal, achieving extreme lightweight design. It does not need to store complete system state or ledger data locally; it only needs to securely store its own update key and current identity credentials. When there is a state update on the blockchain, the UAV only needs to listen for the broadcast update information to calculate its new identity credentials locally at a constant time, achieving stateless synchronization and avoiding frequent communication with the server and high computational overhead.

[0057] Blockchain Network 104, maintained collaboratively by all edge servers, serves as the system's distributed trust anchor and trusted bulletin board. It does not store sensitive raw data, but rather records the historical sequence of global commitment summaries in an immutable manner, containing all necessary public information for local proof updates. Through its chain-like structure, the blockchain ensures that all identity management changes are public, transparent, and traceable, providing a solid foundation for the dynamic, trustworthy, and secure operation of the entire system.

[0058] In this invention, the four types of entities work collaboratively: the cloud performs a one-time trusted setup; the edge server enables efficient identity registration, updates, and state consensus; the terminal drone achieves stateless synchronization through local computation; and the blockchain serves as a trust anchor to solidify state history. These entities collectively construct a robust, efficient, and scalable dynamic authentication system for drone swarms. Its overall workflow covers the entire lifecycle, from initializing system parameters in the cloud, drone registration, single or batch identity authentication via the edge server, to dynamically managing member states.

[0059] Furthermore, it should be noted that, in this embodiment of the invention, a user terminal can also be configured to customize the data necessary for implementing the above methods. The user terminal may have computer software programs installed that match the UAV swarm identity registration method and / or UAV swarm identity update method provided by this method; the user terminal may include, but is not limited to, portable electronic devices or wearable electronic devices such as desktop computers (PCs), smartphones, handheld computers, tablet computers, personal digital assistants (PDAs), etc., and this embodiment of the invention does not impose any limitations on the above.

[0060] Please refer to Figure 2 The diagram shown is a flowchart illustrating a drone swarm identity registration method according to an embodiment of the present invention. This drone swarm identity registration method specifically includes the following steps:

[0061] S201: If the number of drones in the current cluster is less than the preset maximum drone capacity, then in response to the registration request of a newly added drone, a unique identifier and an update key are assigned to the newly added drone.

[0062] It should be noted that before registering a new drone, system initialization and drone identity definition within the current cluster are required. System initialization is a one-time trusted setup process performed on the cloud server. Drone identity definition quantifies the drone's identity information into a vector form, transforming the physical identity into a mathematically verifiable object, facilitating dynamic storage and management and resisting identity forgery. Simultaneously, these two processes lay the cryptographic foundation for the entire authentication system, ensuring the security and verifiability of all subsequent operations. Furthermore, the trusted setup process and the drone information within the current cluster must be completed entirely before the system goes live.

[0063] The initialization of trusted settings may include: configuring the maximum drone capacity within the cluster. The system generates an updated key set and a proof key based on the maximum drone capacity; calculates an initial global commitment based on a preset zero initial vector and the proof key; and writes the initial global commitment into the genesis block of the blockchain, wherein the number of elements in the preset zero initial vector is greater than or equal to the maximum drone capacity.

[0064] It's important to note that system initialization is a one-time operation performed by the cloud server. This process is completed only before the system goes live, avoiding continuous reliance on a centralized entity during runtime. This is achieved by generating aSVC's proof key, verification key, and update key, and constructing an initial zero-vector commitment anchored to the blockchain's genesis block, ensuring the public verifiability and immutability of the system's initial state. After this phase, the cloud server can be taken offline, and the system's subsequent secure operation will rely on the decentralized blockchain consensus mechanism and the cryptographic properties of aSVC.

[0065] In one exemplary embodiment, the cloud server trusted setup specifically performs the following operations to generate an updated key set and a proof key. First, it generates public bilinear pairing parameters. The AVSC key generation algorithm is invoked to generate the updated key set and proof key mentioned above. Construct a dimension as zero vector ; Calculate the initial global commitment and the initial global commitment The genesis block written into the blockchain.

[0066] On the other hand, defining the identity of drones within the current drone cluster may include: encoding the identity information of each drone in the cluster into an information vector corresponding to the drone, and aggregating the information vectors into a drone cluster vector; the identity information includes the drone's identity identifier, public key, and hash value of the update key.

[0067] In one exemplary embodiment, this can specifically be represented as each drone Identity information and key attributes are encoded into a vector element. The entire drone swarm (assuming a maximum capacity of...) The state of ) can be represented as a state of length . vector . Specifically, it includes the following information:

[0068]

[0069] in, A unique identifier representing each drone within the cluster, assigned by the edge server during registration; The traditional public key of each of the aforementioned drones is used to verify the digital signature of the messages it sends, and is also present in the private key corresponding to the traditional public key. Securely stored by drone; Update keys for each of the aforementioned drones The hash value. These attributes together constitute the state representation of the drone in its corresponding information vector. The edge server maintains the complete cluster vector. And can calculate commitments to it. .

[0070] Based on this implementation method, an information vector is defined for each drone, and its identity identifier can ensure the global uniqueness of the drone's identity within the cluster, effectively preventing Sybil attacks. This identifier typically corresponds to a drone's identity slot. Traditional public keys are used to verify drone signatures, providing security at the communication layer and laying the foundation for identity registration; updated keys are generated by a cloud server and bound to the identity slot corresponding to the drone. This ensures the legality of dynamic updates during subsequent identity registration and update processes.

[0071] It is understood that, in one embodiment, the cluster vector is constructed by replacing the elements of the identity slots corresponding to the preset zero vectors with the information vectors of each UAV within the cluster, based on their corresponding identity identifiers. Often, the number of UAVs in the cluster is less than the maximum capacity of the UAV cluster; assuming the maximum capacity of the UAV cluster is... The number of drones in the cluster is Then the elements in the cluster vector arrive All slots are set to 0. Furthermore, since the number of identity slots in the cluster vector is limited, meaning there is a maximum number of drones in the cluster, the system will stop registering drone identities once the maximum number of drones in the cluster has been reached.

[0072] For example, if the maximum capacity of a drone swarm is 5, then the preset zero vector contains five elements. The current drone cluster consists of three drones, each with a corresponding information vector of [missing information]. , as well as The cluster vector formed at this time is When two more drones are registered to the cluster, the cluster vector becomes... Subsequently, since the drone bookstore in the cluster has reached its maximum capacity, any further registration requests from newly added drones will no longer be responded to by the system.

[0073] It should be noted that, in one implementation, in order to ensure that the cluster registration phase is free from the impact of replay attacks, when the number of drones in the current cluster is less than the preset maximum drone capacity, the registration request can be validated before assigning a unique identifier and updating the key to the newly added drone after responding to the registration request of the newly added drone.

[0074] Specifically, this includes: parsing the registration request of the newly added drone to obtain the public key of the newly added drone, a random number signature based on the private key of the newly added drone, and the value of the random number; decoding the random number signature based on the public key of the newly added drone; if the decoded random number does not match the value of the random number carried in the registration request, terminating the registration of the newly added drone and reporting an alarm signal; if the decoded random number matches the value of the random number carried in the registration request, assigning a unique identifier and an update key to the newly added drone.

[0075] That is, on the side of adding a new drone, in order for the edge server to recognize the validity of the corresponding registration request and avoid the threat of replay attacks, it should obtain the public key and private key of the new drone or the drone to be updated, sign a random number based on the private key; construct a registration request or identity update request based on the public key of the new drone, the random number signature and the value of the random number; and send the registration request or identity update request to the edge server.

[0076] The random number is preferably In cryptography It is an arbitrary or non-repeating random value that is used only once. This can further ensure that the verification information is not reused in the communication of the verification protocol to combat replay attacks.

[0077] S202: Establish the information vector of the newly added drone and update the information vector of the newly added drone to the drone cluster vector;

[0078] After assigning a unique identifier and update key to the newly added drone, an information vector can be established for it. The information vector preferably adopts the same format as the vectors of all drones in the cluster. Specifically, it can follow the above embodiment and define the information vector as follows:

[0079]

[0080] in, This represents the unique identifier assigned to the newly added drone, which is assigned by the edge server during registration; The traditional public key of the newly added drone is used to verify the digital signature of the messages it sends, and it exists in the private key corresponding to the traditional public key. Securely stored by drone; The updated key assigned to the newly added drone The hash value.

[0081] Furthermore, the information vector of the newly added drone will need to be updated to the drone cluster vector. This is because a unique identifier has been assigned to each newly added drone. Therefore, the identity slot corresponding to the newly added drone can be obtained directly. The information vector of the newly added drone is updated to the drone swarm vector; that is, the information vector of the newly added drone is used. Replace the first one in the cluster vector The element in each slot is 0.

[0082] For example, if the maximum capacity of a drone swarm is 5, then the preset zero vector contains five elements. The current drone cluster consists of three drones, each with a corresponding information vector of [missing information]. , as well as The cluster vector formed at this time is When a registration request for a new drone is received in response to a specific information vector, a unique identifier is assigned. and updating the key Based on the identity identifier and / or the update key, it can be determined that the identity slot corresponding to the newly added drone is 4. An information vector is then constructed for it. Next, the information vector should replace the 0 element in the fourth slot of the cluster vector, that is, the original cluster vector... Update to the new cluster vector .

[0083] S203: Based on the information vector of the newly added UAV, the update key, and the global commitment at the previous moment, update the global commitment at the current moment and generate update information;

[0084] In one specific embodiment, the update information may be:

[0085]

[0086] in, For the updated information; The identity slot for the newly added drone can be obtained from the identity identifier or update key assigned to the newly added drone. For the elements in the update key assigned to the newly added drone; For state changes, since it is a newly added drone, the state change can be represented by the information vector of the newly added drone.

[0087] In addition, the updated global commitment can be:

[0088]

[0089]

[0090] Among them, the For the updated global commitment; For the global commitment before the update; For state changes, since it is a newly added drone, the state change can be represented by the information vector of the newly added drone. For Lagrange polynomials of promise.

[0091] S204: Write the updated global commitment to the blockchain and broadcast the update information to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

[0092] In this embodiment of the invention, other drones within the cluster can perform asynchronous synchronization. That is, once the registration transaction is confirmed on the blockchain, existing drones can use the algorithm to update their own identity credentials locally in constant time. This stateless synchronization mechanism significantly reduces the overall synchronization overhead and ensures the scalability of the system in highly dynamic environments.

[0093] In one implementation, the aSVC API algorithm can be invoked to update the identity credentials of other drones and generate identity credentials for newly added drones.

[0094] Specifically, the identity credentials of other drone nodes within the cluster, updated based on the updated information, can be:

[0095]

[0096]

[0097]

[0098] in, yes The derivative of = Evaluation at point; For updating the identity slots of drones; The identity slot for the newly added drone can be obtained from the identity identifier or update key assigned to the newly added drone; the cluster vector is represented by the Lagrange polynomial, where the vector elements are... (The information vector corresponding to the drone with identity slot k) is the polynomial at a specific point where the root is a unit root. Evaluation of ; For the updated drone identification credentials; This is the drone's identity certificate before the update.

[0099] Furthermore, the present invention also includes: generating an identity credential for the new drone based on a proof key generated by a cloud server, the position index of the new drone in the drone cluster vector, and the updated drone cluster vector; and sending the identity credential to the new drone after the blockchain confirms the updated information, so that the new drone stores the identity credential.

[0100] Furthermore, the present invention also includes: generating an identity credential for the new drone based on a proof key generated by a cloud server, the position index of the new drone in the drone cluster vector, and the updated drone cluster vector; and sending the identity credential to the new drone after the blockchain confirms the updated information, so that the new drone stores the identity credential.

[0101] In one embodiment, the specific process for generating identity credentials for a new drone is as follows:

[0102] First, update the entire drone swarm vector. Consider it as a set of evaluation points, where the first... element It is a unique polynomial At a specific point The value on, that is Here It is a unit root.

[0103] Furthermore, in order to generate new drones (assuming their location index is...) The corresponding information vector is ) identity credentials The edge server needs to calculate a quotient polynomial. Its definition is:

[0104]

[0105] The meaning of this formula is that, due to Therefore, the polynomial ( There must be () This factor, when divided by the two, yields the quotient polynomial. .

[0106] Finally, the newly added drone identity credentials That is, for the quotient polynomial The KZG commitment is calculated as follows:

[0107]

[0108] in, For generators of bilinear pairs, The secret value generated during the trusted setup phase is the identity credential. It is a group element of constant size that can be used by the verifier to verify drones. Information It is indeed included in the global commitment The cluster vector represented This credential generation process corresponds to the VC.ProvePos algorithm in the aSVC scheme.

[0109] Please refer to Figure 3 The diagram shown is a flowchart illustrating a drone swarm identity update method according to an embodiment of the present invention. This drone swarm identity update method specifically includes the following steps:

[0110] S301: In response to the identity update request of the drone to be updated, verify the validity of the identity update request and the legality of the update key carried in the identity update request;

[0111] In one embodiment of the present invention, verifying the validity of the identity update request and the legality of the update key carried in the identity update request may include: parsing the registration request of the drone to be updated, obtaining the public key of the drone to be changed, a random number signature based on the private key of the drone to be changed, an update key signature, the value of the random number, and the update key; decoding the signature based on the public key of the drone to be changed; if the decoded random number is consistent with the value of the random number carried in the registration request and the decoded update key is consistent with the update key carried in the registration request, then the identity update request is considered valid and the update key is legal.

[0112] S302: If the identity update request is valid and the update key is valid, then a new information vector is established based on the changed identity information of the UAV to be updated, and the difference between the new information vector and the original information vector is calculated;

[0113] It can be understood that the difference between the new information vector and the original information vector is the change in the state of the UAV to be modified. That is...

[0114]

[0115] in, This refers to the change in the state of the drone to be modified. This refers to the modified information vector of the UAV to be changed. This is the modified information vector of the UAV to be changed.

[0116] S303: Based on the difference between the new information vector and the original information vector of the UAV to be updated, the update key, and the global commitment at the previous moment, update the global commitment at the current moment and generate update information;

[0117] In one specific embodiment, the update information may be:

[0118]

[0119] in, For the updated information; The identity slot for the drone to be updated can be obtained from the identity identifier or update key assigned to the new drone. For the elements in the update key assigned to the drone to be updated; State change quantity .

[0120] In addition, the updated global commitment can be:

[0121]

[0122]

[0123] Among them, the For the updated global commitment; For the global commitment before the update; State change quantity ; For Lagrange polynomials of promise.

[0124] S304: Write the updated global commitment to the blockchain and broadcast the update information to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

[0125] Understandably, this step can be approximated by S204, and will not be elaborated further here.

[0126] Please refer to Figure 4 As shown, based on the same inventive concept as the aforementioned UAV swarm identity registration method, one embodiment of the present invention provides a UAV swarm identity registration system 400, including: an allocation module 401, an establishment module 402, a first update module 403, and a second update module 404.

[0127] Specifically, the allocation module 401 is used to allocate a unique identifier and update key to the newly added drone in response to the registration request of the newly added drone if the number of drones in the current cluster is less than the preset maximum drone capacity value; the establishment module 402 is used to establish the information vector of the newly added drone and update the information vector of the newly added drone to the drone cluster vector; the first update module 403 is used to update the global commitment at the current moment and generate update information based on the information vector of the newly added drone, the update key and the global commitment at the previous moment; the second update module 404 is used to write the updated global commitment into the blockchain and broadcast the update information to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

[0128] Please refer to Figure 5 As shown, based on the same inventive concept as the aforementioned UAV swarm identity change method, one embodiment of the present invention provides a UAV swarm identity change system 500, including: a verification module 501, a calculation module 502, a third update module 503, and a fourth update module 504.

[0129] Specifically, the verification module 501 is used to respond to the identity update request of the drone to be updated, verify the validity of the identity update request and the legality of the update key carried in the identity update request; the calculation module 502 is used to, if the identity update request is valid and the update key is legal, establish a new information vector based on the changed identity information of the drone to be updated, and calculate the difference between the new information vector and the original information vector; the third update module 503 is used to update the global commitment at the current moment and generate update information based on the difference between the new information vector and the original information vector of the drone to be updated, the update key, and the global commitment at the previous moment; the fourth update module 504 is used to write the updated global commitment into the blockchain and broadcast the update information to the blockchain, so that other drone nodes in the cluster can update their own identity credentials based on the update information.

[0130] Please refer to Figure 6 As shown, embodiments of the present invention also provide an electronic device 600, which includes at least one processor 601, a memory 602 (e.g., non-volatile memory), a memory 603, and a communication interface 604, wherein the at least one processor 601, the memory 602, the memory 603, and the communication interface 604 are connected together via an internal bus 605. The at least one processor 601 is used to invoke at least one program instruction stored or encoded in the memory 602 to cause the at least one processor 601 to perform various operations and functions of the UAV swarm identity registration method and / or UAV swarm identity update method described in the various embodiments of this specification.

[0131] In the embodiments of this specification, electronic device 600 may include, but is not limited to: personal computer, server computer, workstation, desktop computer, laptop computer, notebook computer, mobile electronic device, smartphone, tablet computer, cellular phone, personal digital assistant (PDA), handheld device, messaging device, wearable electronic device, consumer electronic device, etc.

[0132] This invention also provides a computer-readable medium carrying computer-executable instructions. When executed by a processor, these instructions can be used to implement various operations and functions of the UAV swarm identity registration method and / or UAV swarm identity update method described in the various embodiments of this specification.

[0133] The computer-readable medium in this invention can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0134] In this invention, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

[0135] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0136] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus, systems, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0137] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

[0138] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0139] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A method for registering the identity of a drone swarm, applied to an edge server, characterized in that, include: If the number of drones in the current cluster is less than the preset maximum drone capacity, then in response to the registration request of a new drone, a unique identifier and an update key are assigned to the new drone. Establish an information vector for the newly added drone, and update the information vector of the newly added drone to the drone cluster vector; Based on the information vector of the newly added UAV, the update key, and the global commitment at the previous moment, update the global commitment at the current moment and generate update information; The updated global commitment is written to the blockchain and the update information is broadcast to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

2. The UAV swarm identity registration method according to claim 1, characterized in that, The method further includes: Based on the proof key generated by the cloud server, the position index of the newly added drone in the drone cluster vector, and the updated drone cluster vector, an identity credential is generated for the newly added drone. After the blockchain confirms the updated information, the identity credential is sent to the newly added drone so that the newly added drone stores the identity credential.

3. The method for registering the identity of a drone swarm according to claim 1, characterized in that, Before assigning a unique identifier and updating the key to the newly added drone, the method further includes: Parse the registration request of the newly added drone to obtain the public key of the newly added drone, the random number signature based on the private key of the newly added drone, and the value of the random number; Based on the public key of the newly added drone, the random number signature is decoded; If the random number obtained by decoding is inconsistent with the value of the random number carried in the registration request, the registration of the newly added drone will be terminated and an alarm signal will be reported. If the decoded random number matches the value of the random number carried in the registration request, then a unique identifier and an update key are assigned to the newly added drone.

4. The UAV swarm identity registration method according to claim 1, characterized in that, The method also includes performing trusted settings by the cloud server before the drone cluster identity registration, specifically including: Configure the maximum drone capacity within the cluster, and generate an updated key set and proof key based on the maximum drone capacity; An initial global commitment is calculated based on a preset zero initial vector and the proof key, and the initial global commitment is written into the genesis block of the blockchain, wherein the number of elements in the preset zero initial vector is greater than or equal to the maximum drone capacity.

5. The method for unmanned aerial vehicle (UAV) swarm identity registration according to claim 1, characterized in that, Before drone cluster identity registration, the method further includes: The identity information of each drone in the cluster is encoded into an information vector corresponding to the drone, and the information vectors are aggregated into a drone cluster vector; the identity information includes the drone's identity identifier, public key, and hash value of update key.

6. A method for updating the identity of a drone swarm, applied to an edge server, characterized in that, include: In response to the identity update request of the drone to be updated, verify the validity of the identity update request and the legality of the update key carried in the identity update request; If the identity update request is valid and the update key is valid, a new information vector is established based on the changed identity information of the drone to be updated, and the difference between the new information vector and the original information vector is calculated. Based on the difference between the new information vector and the original information vector of the UAV to be updated, the update key, and the global commitment at the previous moment, the global commitment at the current moment is updated and the update information is generated. The updated global commitment is written to the blockchain and the update information is broadcast to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

7. A method for registering / updating the identity of a drone swarm, applied to the drone side, characterized in that, include: Obtain the public and private keys of the newly added or updated drone, and sign a random number based on the private key; Based on the public key of the newly added drone or the drone to be updated, the random number signature, and the value of the random number, a registration request or identity update request is constructed. The registration request or identity update request is sent to the edge server.

8. A drone swarm identity registration system, characterized in that, include: The allocation module is used to allocate a unique identifier and update key to the newly added drone in response to the registration request of the newly added drone if the number of drones in the current cluster is less than the preset maximum drone capacity value. The module is used to establish the information vector of newly added drones and update the information vector of the newly added drones to the drone cluster vector. The first update module is used to update the global commitment at the current moment and generate update information based on the information vector of the newly added UAV, the update key and the global commitment at the previous moment; The second update module is used to write the updated global commitment into the blockchain and broadcast the update information to the blockchain so that other drone nodes in the cluster can update their own identity credentials based on the update information.

9. A computer device, characterized in that, include: A memory and a processor are interconnected, the memory stores computer instructions, and the processor executes the computer instructions to perform the UAV swarm identity registration method and / or UAV swarm identity update method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing the computer to execute the drone swarm identity registration method and / or drone swarm identity update method as described in any one of claims 1-7.

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