The unmanned aerial vehicle (UAV) swarm is widely applied in many fields, such as disaster relief and geological exploration. However, it is highly vulnerable when facing an attack from internal malicious UAVs due to the underlying disconnected, intermittent, and limited (DIL) network environment. Recently, building trusted networks has been considered as a strategy to address security issues. Nevertheless, deploying a trusted network in a swarm faces many challenges imposed by the dynamic topology and limited resources of DIL networks. In order to overcome these challenges, we developed a blockchain-based UAV trusted self-organizing networking mechanism (BC-UTSON) to enhance internal security. Three key technologies are proposed for assisting BC-UTSON in achieving trustworthiness. UAV practical Byzantine fault tolerance (U-PBFT) is proposed to guarantee the lightweight consensus and real-time full-node trustworthiness evaluation under the hierarchical self-organizing networking structure of a UAV swarm. A blockchain-based multiweighted subjective logic (BMWSL) scheme has been designed to identify malicious UAV nodes based on the trustworthiness evaluation, which also assists the trusted path quality-aware dynamic routing (TPDR) mechanism to prevent data from routing through malicious nodes. The experimental results show that the proposed BC-UTSON performs much better than nonblockchain-based mechanisms for the UAV swarm.

中文翻译：

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建立可信的无人机群网络：一种基于区块链的方法

无人机群广泛应用于救灾、地质勘探等领域。然而，由于底层断开、间歇和受限（DIL）的网络环境，当面临来自内部恶意无人机的攻击时，它非常容易受到攻击。最近，构建可信网络已被视为解决安全问题的策略。然而，在集群中部署可信网络面临着动态拓扑和 DIL 网络有限资源带来的许多挑战。为了克服这些挑战，我们开发了一种基于区块链的无人机可信自组织网络机制（BC-UTSON）来增强内部安全性。提出了三个关键技术来帮助 BC-UTSON 实现可信度。提出了无人机实用拜占庭容错（U-PBFT），以保证无人机群层次自组织网络结构下的轻量级共识和实时全节点可信度评估。设计了一种基于区块链的多权重主观逻辑（BMWSL）方案，基于可信度评估来识别恶意无人机节点，该方案还辅助可信路径质量感知动态路由（TPDR）机制，以防止数据通过恶意节点进行路由。实验结果表明，所提出的 BC-UTSON 比无人机群的基于非区块链的机制表现得更好。设计了一种基于区块链的多权重主观逻辑（BMWSL）方案，基于可信度评估来识别恶意无人机节点，该方案还辅助可信路径质量感知动态路由（TPDR）机制，以防止数据通过恶意节点进行路由。实验结果表明，所提出的 BC-UTSON 比无人机群的基于非区块链的机制表现得更好。设计了一种基于区块链的多权重主观逻辑（BMWSL）方案，基于可信度评估来识别恶意无人机节点，该方案还辅助可信路径质量感知动态路由（TPDR）机制，以防止数据通过恶意节点进行路由。实验结果表明，所提出的 BC-UTSON 比无人机群的基于非区块链的机制表现得更好。