The　Internet　of　Things　has　become　an　essential　part　of　human　life.　When　an　IoT　node　transmits　data,　it　needs　to　go　through　multiple　hops　to　reach　its　destination,　which　relies　on　the　support　of　routing　algorithms.　The　IoT　network　architecture　itself　is　deficient.　It　is　easy　to　various　routing　attacks.　For　requirements　of　secure　routing　for　IoT,　we　propose　an　intra-domain　trusted　routing　scheme.　Our　trusted　routing　scheme　is　based　on-demand　routing　protocol　and　references　to　link　trust　values.　For　routing　functions,　it　includes　a　route　negotiation　process　and　pathfinding　mechanism　based　on　a　modified　heap　optimization　method.　For　security　functions,　the　security　of　routing　is　protected　by　trusted　computing　mechanism.　In　the　sybil　attack　experiment,　our　routing　schemes　provide　well　protection　effect.　　©　2023　IEEE.