Introduction
An unmanned aerial vehicle (UAV), also known as a drone, is a type of aircraft that operates without a human pilot on board, but which can be remotely piloted from anywhere in the world with advanced communication networks. Recent technologies, such as 5G and blockchain, have allowed for the rapid development of many different kinds of advanced UAV use cases for various purposes [1]. The wide range of UAV applications includes aerial photography, emergency rescue, logistics transportation, agricultural monitoring, military search, strike, and so on [2]. Civil infrastructure is expected to dominate more than $45 billion market value of UAV usage [3]. This implies UAVs' broad market prospects in the near future. To meet the growing diversity of application needs, it is necessary to introduce multiple UAVs to coordinate and collaborate to complete a given task. This has created an emerging type of wireless communication network, namely the UAV ad hoc network (UAANET) [4]. As an emerging information sensing, analyzing, and transmitting network [5], UAANET serves as a bridge network connecting terrestrial information networks (TINs) and the space information network (SIN), which is an indispensable part of integrated space-terrestrial information networks. However, the rapid movement of UAVs within three-dimensional (3D) space makes UAANET a highly dynamic distributed network, which makes it difficult for UAVs to provide real-time link status information and network topology information for neighbor UAVs, and this makes it difficult to find the best routing path. Moreover, UAANET is vulnerable to intrusion, such as injection, forging identity, eavesdropping, hijacking, monitoring for network information, and other attacks. Therefore, to ensure information security and flight control safety, it is important to realize trusted networking for UAANET. To address these issues, a blockchain-empowered trusted networking framework is proposed for UAANET, in which an innovative max-min routing algorithm with 3D link duration is used for stable routing under dynamic network topology, and a multipoint relay (MPR)-driven delegated Byzantine fault tolerance (DBFT) consensus mechanism is proposed for trusted networking.