Incentive-Aware End-to-End Covert Routing for Space–Air–Ground Integrated Networks

Covert communication has emerged as a promising technique for protecting wireless transmissions by concealing the existence of legitimate communication from malicious wardens. However, achieving end-to-end covert communication in space–air–ground integrated networks (SAGINs) is challenging due to the coupled effects of satellite-to-ground relay access, ground multi-hop forwarding, and cooperative jamming. In this paper, we propose an incentive-aware end-to-end covert routing framework for SAGINs, where a low Earth orbit (LEO) satellite delivers information to a ground destination through a selected relay base station and a self-organizing ground route. We first establish a two-stage SAGIN model and characterize the satellite-to-ground covert capacity under satellite sidelobe interference, as well as the ground-route covert performance in the presence of multiple wardens and cooperative jammers. Since jammers are self-interested and incur power costs when generating artificial interference, we design an incentive mechanism to stimulate cooperative jamming for enhancing ground-route covertness. Specifically, the reward allocation and jamming-power response are jointly derived by considering both the route-dependent covertness gain and the power cost of jammers. Based on the resulting route-dependent utility, the ground routing problem is further transformed into a shortest-weighted path-finding problem. To improve the long-term stability of satellite-to-ground relay access, we model the repeated interaction between the LEO satellite transmitter and the satellite warden as a base-station selection process and develop a zero-determinant strategy to stabilize the long-term expected utility relation under different warden monitoring policies. Simulation results demonstrate that the proposed framework effectively balances satellite-to-ground covert capacity and ground-route utility, outperforms baseline relay selection schemes, and achieves stable long-term covert routing performance against uncertain warden behaviors.