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Due to the high flexibility, mobility and low cost features, wireless ad hoc networks are widely used. A particularly challenging problem is how to feasibly detect and defend the major attacks against routing protocols of such networks that have susceptible links and dynamic topology. Most of the existing secure routing protocols for ad hoc networks either avoid the most challenging internal attacks such as Byzantine behaviors, or have often produced inefficient security mechanisms. In this paper, we develop a new efficient distributed key management scheme and a novel algorithm that can detect the most difficult internal attacks, such as Byzantine attacks. We also present a novel secure quality of service routing (SQSR) protocol, which provides both secure and QoS routing. The simulation results have demonstrated the effectiveness of the proposed routing protocol.