In recent years, UAV networking technology has become a hot topic, and it has been used in industry, agriculture, emergency, fire protection, communications and other fields. Communication technology is the key technology of UAVs, which has a decisive impact on the development of UAVs. The 5G cellular network also brings more possibilities to UAVs. With the rapid development of 5G cellular-connected drones, the security issues of their sensor networks have also attracted widespread attention. This paper studies the key management technology in the 5G network-connected UAV sensor network. Although public key encryption schemes such as RSA and elliptic curves can provide sufficient security, their applications are limited due to their extremely high demands on computing power, which conflict with the resource constraints of sensor nodes. For the security management of cluster keys, this paper introduces the concept of bivariate polynomials into key management. This not only ensures pairwise keys between any two nodes, but also performs intercluster key distribution on the generated bivariate polynomials, tests various characteristics of the generated bivariate polynomials in key management, and Simulation experiments are carried out under different orders of polynomials.