CN113055079B - Fuzzy logic-based routing method in low-earth-orbit satellite network - Google Patents
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Abstract
The invention belongs to the technical field of satellite communication, and particularly relates to a fuzzy logic-based routing method in a low earth orbit satellite network, which comprises the steps of shielding the dynamic property of satellite network topology based on a virtual topology control strategy, initializing a satellite set, and recording the superiority of an inter-satellite link of two satellites which are not directly connected as infinitesimal; calculating the superiority of a link formed from a source node to a target node according to the transmission delay, the propagation delay and the membership degree of queuing delay; searching path superiority between all nodes and a source node in a satellite set Y, selecting a node k with the highest link superiority at present, putting the node into a set X, and deleting the node in the Y; detecting the state of neighbor nodes around a node k in the satellite set in real time, updating the link superiority from a source node to all nodes in the satellite set Y, and rerouting according to the path superiority between the source node s and the node k; the invention can carry out self-adaptive adjustment on the blockage and failure conditions.
Description
Technical Field
The invention belongs to the technical field of satellite communication, and particularly relates to a fuzzy logic-based routing method in a low earth orbit satellite network.
Background
The low-orbit satellite network has the characteristics of low orbit height, short signal transmission path, low time delay and low power loss, and is increasingly becoming a hot research topic in the satellite communication field. However, the networking of the low-earth orbit satellite network requires more satellites, and the inter-satellite link relationship is more complex, which results in uncertainty of link parameters. For example, the continuous variation of the distance between satellites causes uncertainty of the propagation delay of the link; the inter-satellite link with heavier load causes the update of the link state information to be untimely; the influence of solar radiation, electromagnetic interference and the like causes failures such as datagram loss and the like. The traditional low-orbit satellite routing algorithm does not consider the uncertainty in the space environment and the link complex environment, so that the route survivability performance is not good, and the distance from the practical application is a certain distance. In recent years, the survivability routing strategy under the complex environment is paid attention to by scientific research technicians of various countries, and becomes a hot research.
At present, the research on the survivability routing based on the fuzzy logic in the field of satellite networks is less, and the application of the fuzzy logic in the survivability research of the satellite routing is not researched.
Disclosure of Invention
In order to make the routing adapt to the complex environment of the satellite network, realize high-efficiency routing and have certain survivability, the invention provides a routing method based on fuzzy logic in a low-orbit satellite network, as shown in fig. 1, which specifically comprises the following steps:
s1, shielding the dynamic property of a satellite network topology based on a control strategy of a virtual topology, initializing a satellite set, and recording the superiority of an inter-satellite link of two satellites which are not directly connected as infinitesimal;
s2, calculating the superiority of a link formed from a source node to a target node according to the transmission delay, the propagation delay and the membership degree of the queuing delay;
s3, searching path superiority between all nodes and a source node in the satellite set Y, selecting a node k with the highest link superiority at present, putting the node into the set X, and deleting the node in the Y;
s4, detecting the state of neighbor nodes around the node k in the satellite set in real time, updating link superiority from the source node to all nodes in the satellite set Y, and performing rerouting if the path between the source node S and the node k is not the path with the highest superiority;
s5, repeating S3-S4, traversing all satellite nodes until the satellite set Y is empty, wherein the link superiority of the satellite nodes included in the satellite set X is highest, and obtaining the optimal routing path;
the initialized satellite set Y comprises all satellite nodes except the source node; the set of satellites X is initialized to include only the source node.
Further, the control strategy based on the virtual topology shields the dynamic property of the satellite network topology, i.e. the control strategy based on the topology is to convert Wei Xingyun into period T sys Dividing the network topology into a series of equal-length time intervals n, wherein the network topology in each time interval is represented by one topology snapshot, and the time interval between two adjacent snapshots is
I.e., refreshing the snapshot at time t = w Δ t (w =0,1,2, … n); at each particular time, the network topology of the satellite may be considered static, with a corresponding snapshot representing the network topology at that time.
Further, the superiority evaluation function of the path formed from the source node to the target node is expressed as:
wherein, lx st Path for Path superiority from source node s to destination node t (s,t) Is a link included on a path from a source node s to a destination node t; lx ij The link superiority from the satellite node i to the satellite node j is obtained; alpha is alpha 1 、α 2 And alpha 3 Respectively are the weights of the link propagation delay, the transmission delay and the queuing delay membership;
and
which are the membership degrees of the link propagation delay, the transmission delay and the queuing delay, respectively.
Further, membership function of transmission delay from satellite node i to satellite node j
Expressed as:
wherein Tc ij The transmission delay from the satellite node i to the satellite node j is obtained; tc ijmid Is the length L of the transmitted data packet of the link (i, j) and a link transmission rate V of 0.8 times ij Ratio of (i) to (ii)
Tc ijmax Is the transmitted data packet length of link (i, j)Degree L and 0.3 times link transmission rate V ij Ratio of (i) to (ii)
Further, the membership function mu of the propagation delay from the satellite node i to the satellite node j Tdij (x) Expressed as:
wherein, td ij Is the propagation delay between the satellite node i and the satellite node j; td ijmin The ratio of the distance between the satellites to the constant of the light speed when the satellite runs to the pole area; td ijmax The maximum delay that can be tolerated by the low-earth satellite network.
Further, the propagation delay between the satellite node i and the satellite node j is expressed as:
wherein, d ij The link distance between a satellite node i and a satellite node j is shown, R is the radius of the earth, h is the orbital height of the satellite, and theta is the included angle between two satellites and the connecting line of the earth center; c is the light speed constant.
Further, the membership function of the queuing time delay from the satellite node i to the satellite node j
Expressed as:
wherein Tp ij For satellite nodes i to weiQueuing delay of the star node j; tp (Tp) ijmax Is the maximum value of queuing delay; tp (Tp) ijmid Is Tp ijmax Half of that.
Further, queuing delay Tp from satellite node i to satellite node j ij Expressed as:
wherein Pc i For transmitting the length of the data packet in the buffer queue, n i For the number of packets in the queue, R ij The forwarding rate at which satellite node i sends data to satellite node j is the time.
Further, the determining whether rerouting is required according to the path superiority between the source node s and the node k includes:
setting the theoretical rising trigger threshold values of transmission delay, propagation delay and queuing delay as beta respectively 1 、β 2 、β 3 ；
The theoretical descending trigger threshold values of the transmission delay, the propagation delay and the queuing delay are respectively set as
In the running process of the planet, if two or more indexes trigger the set threshold value, rerouting is carried out.
The route updating mode of the satellite node comprises two modes, one mode is a route updating triggering mode caused by reaching a rerouting condition, and the other mode is a route updating mode along with topology updating. The method adopts a control strategy of virtual topology to shield the moving characteristic of the satellite, recalculates the latest route of the snapshot at intervals according to a global link cost function, and adopts Dijkstra algorithm to calculate the route on each snapshot, namely, updating at regular time. The mode of combining the timing update and the trigger update also embodies the combination of centralized type and distributed type, and the network can carry out self-adaptive adjustment on the blocking and failure conditions; in addition, compared with the traditional Dijkstra algorithm, the distance is not adopted as the optimization index, link superiority is described as the optimization index of the algorithm based on queuing delay, transmission delay and propagation delay, the method is more reliable in route searching, and congestion can be avoided.
Drawings
Fig. 1 is a flow chart of a routing method based on fuzzy logic in a low earth orbit satellite network according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The invention provides a fuzzy logic-based routing method in a low earth orbit satellite network, which specifically comprises the following steps as shown in figure 1:
s1, shielding the dynamic property of a satellite network topology based on a control strategy of a virtual topology, initializing a satellite set, and recording the superiority of an inter-satellite link of two satellites which are not directly connected as infinitesimal;
s2, calculating the superiority of a link formed from a source node to a target node according to the transmission delay, the propagation delay and the membership degree of the queuing delay;
s3, searching path superiority between all nodes and a source node in the satellite set Y, selecting a node k with the highest superiority of the current link, putting the node into the set X, and deleting the node in the Y;
s4, detecting the state of neighbor nodes around the node k in the satellite set in real time, updating link superiority from the source node to all nodes in the satellite set Y, and performing rerouting if the path between the source node S and the node k is not the path with the highest superiority;
s5, repeating S3-S4, traversing all satellite nodes until the satellite set Y is empty, wherein the link superiority of the satellite nodes included in the satellite set X is highest, and obtaining the optimal routing path;
the initialized satellite set Y comprises all satellite nodes except the source node; the set of satellites X is initialized to include only the source node.
And discretizing the period T of Wei Xingyun into z time intervals by adopting a control strategy of virtual topology snapshot and utilizing the periodic characteristics of the satellite orbit and the predictable characteristics of the constellation structure. The network topology in each time interval is represented by a topology snapshot, and the time interval of two adjacent snapshots is
I.e., the topology is refreshed at time t = m · t (m =0,1,2 … z). At each particular time instant, the network topology of the satellite is considered unchanged, and a particular snapshot representing the network topology at that time instant is shown as graph G m 。
Based on the correlation indexes of the fuzzy logic, the invention then proposes the following link cost function:
Lx ij ＝α 1 Td ij +α 2 Tc ij +α 3 Tp ij ；
wherein, lx ij Is the link cost function from satellite node i to satellite node j. Alpha is alpha 1 、α 2 、α 3 The weights of the link propagation delay, the transmission delay and the queuing delay are respectively.
And on the virtual topology snapshot corresponding to any moment, the satellite node evaluates the state of the satellite link through a link cost function, and provides a rerouting mechanism in order to ensure that the routing has high efficiency and certain survivability. Setting rising trigger threshold and falling trigger threshold of three key indexes influencing link cost rising, namely setting theoretical rising trigger thresholds of transmission delay, propagation delay and queuing delay as beta respectively 1 、β 2 、β 3 . Three drop trigger thresholds for link cost drop are
In the satelliteIn the process of the line, if only one item reaches the threshold value, no rerouting is carried out. If two or three indexes reach the threshold triggering condition, rerouting is necessary, and the index not reaching means being greater than the rising threshold or less than the falling threshold. Therefore, the method can effectively reduce the communication burden of the route which is increased on the contrary because the route is not efficient because a certain index is immediately rerouted. And the ascending and descending thresholds are set for the three indexes, so that the congestion conditions of the network with different degrees can be effectively reflected. For example, for the case of a rising link cost function, if only one index reaches the threshold, or two indexes reach the rising threshold, it may indicate that the inter-satellite link is in light or medium congestion, and if all three indexes reach the rising threshold, the link reaches an extremely congested state at this time, and is not communicable. The judgment method of setting the threshold value can combine the congestion control of the link with the survivability of the route. Therefore, the inter-satellite link with smaller time delay can be preferentially selected for forwarding, and the times of rerouting are reduced.
The superiority evaluation function of the path formed from the source node to the target node is expressed as follows:
wherein, lx st Path for Path superiority from source node s to destination node t (s,t) Is a link included on a path from a source node s to a destination node t; lx ij The link superiority from the satellite node i to the satellite node j is obtained;
and
which are the membership degrees of the link propagation delay, the transmission delay and the queuing delay, respectively.
In this embodiment, the process of calculating the membership of the link propagation delay, the transmission delay, and the queuing delay includes:
membership function of transmission time delay
The satellite nodes are constantly in motion, and the links between the satellites are often reconnected or disconnected, resulting in the structure of the network topology also being changed from time to time. Therefore, the transmission delay in the satellite network also has the characteristic of dynamic transformation, and the transmission delay superiority and inferiority of the corresponding link can be described through the membership function. The transmission delay in the satellite link mainly refers to the time required for the satellite node to transmit a data frame, that is, the time required from the first bit of the data to be transmitted until the last bit of the data is transmitted. Recording the propagation delay from the satellite node i to the satellite node j as Tc ij It adopts the formula
Calculation, L is the length of the data packet, V ij The transmission rate of the link at that time. Because the link congestion conditions at every moment in the network are different, the transmission rate of the link also changes within a certain range, and the more congested the network is, the smaller the transmission rate of the link is. And when the network is congested to a certain degree, the link is determined to be incommunicable. Therefore, the membership function of the transmission delay is expressed as:
when Tc in the above formula ij Is less than or equal to Tc ijmid If the value of the membership function of the transmission time delay of the link is 1, the standard of the optimal link is achieved; when Tc is ij Greater than Tc ijmid The membership function value is gradually reduced to 0, namely the link performance is increasingly poor; wherein Tc ijmid Is the ratio of the length of the transmitted data packet of the link (i, j) to the link transmission rate of 0.8 times, i.e.
This is because the transmission rate of the link in the actual network often does not reach the set value, and the transmission performance of the link is considered when the transmission delay reaches 80% or more of the set valueCan be optimized. Tc ijmax Is the ratio of the length of the transmitted data packet of link (i, j) to 0.3 times the link transmission rate, i.e.
When the transmission rate of the network is continuously reduced, the transmission delay of the link is larger and larger, the membership degree is smaller and smaller, and the degree of conforming to the optimal link is lower and lower. When the transmission rate of the network is lower than 30% of the set value, the membership degree of the transmission delay of the link is considered to be 0.
Membership function of propagation delay
In a low-earth satellite network, the distance of inter-satellite links is far greater than the link length in a traditional ground network, and therefore, propagation delay often accounts for a large proportion of total communication delay. Defining the propagation delay between satellite node i and satellite node j as Td ij It adopts the formula
Performing a calculation of d ij And c is the link distance between the satellite node i and the satellite node j, and is an optical speed constant. In general, a satellite is constantly in a moving state, and the distance between links in the same orbit is constant, but the distance between links in different orbits varies with the movement of the satellite, and the link distance between a satellite node i and a satellite node j is represented as:
wherein, R is the radius of the earth, h is the orbit height, and theta is the included angle between the two satellites and the connecting line of the geocentric. Taking the iridium constellation as an example, the distance of inter-satellite links between different orbits varies with the latitude of the position of the satellite, and if the latitude is higher, the link distance is smaller, and the closer to the pole, the smaller the distance is, the closer to the equator, the larger the distance is. Therefore, the membership function of propagation delay is expressed as:
Td ijmin i.e., the ratio of the inter-satellite distance to the constant speed of light when the satellite travels to the polar region. Because the satellites near the two poles are dense, the relative speed between the satellites is high, and when the poles are crossed, the inter-satellite links are frequently switched. On the other hand, the traffic in the polar region is small, and therefore it is generally considered that the inter-satellite link shuts down the communication function when the satellite travels to the polar region. When the satellite enters the pole region, the distance between the satellites is the shortest, and the propagation delay is the smallest, so it is defined as Td ijmin . When propagation delay is less than Td ijmin And disconnecting the inter-satellite link, wherein the membership degree is 0, namely, excluding the inter-satellite link in the pole area during routing. When the satellite moves from polar region to equator, the distance of inter-satellite link will increase with the decrease of latitude, and when the propagation delay is less than or equal to
At this time, the link is considered to be optimal, and the membership degree is 1. When the distance of the link between the satellites is increased to a certain degree, the propagation delay is larger than that of the link between the satellites
The membership slowly decreases until the propagation delay reaches the maximum delay Td tolerable by the low-orbit satellite network ijmax The degree of membership becomes 0. In summary, when the distance between the satellite links is smaller than the polar region threshold, that is, the propagation delay is smaller than or equal to Td ijmin And propagation delay greater than Td ijmax And the membership degrees are all 0, and the performance of the inter-satellite link is the worst at the moment. When propagation delay is at Td ijmin And Td ijmax With Td ij The degree of conforming to the optimal link is higher and higher.
Membership function of queuing delay
In order to reflect the network congestion situation more accurately, the queuing delay of the link is also analyzed. Along with disconnection and reconnection of the inter-satellite link, the queuing condition of the buffer area of the link has uncertainty,the queuing delay is described by a membership function. Recording the queuing time delay from satellite node i to satellite node j as Tp ij The calculation formula is
Pc i For transmitting the length of the data packet in the buffer queue, n i For the number of packets in the queue, R ij The forwarding rate at which satellite node i sends data to satellite node j is the time. Because the time delay of the inter-satellite link is long, a certain error also exists when the signaling message is transmitted, and therefore the queuing number n in the sending buffer area i Is uncertain. However, it still has a theoretical maximum value, given that the maximum value of the number of queues of packets in the transmit buffer within the prior Δ t time is n imax Then the maximum value of the queuing delay is
When the queuing delay is less than half Td of the maximum value of the queuing delay ijmid And (4) considering that the link accords with the optimal standard, and the membership degree is 1. When the queuing delay of the link is larger than Td ijmid At this time, more and more data packets are in the buffer area, and the value of the membership function is rapidly reduced. Thus, the membership function of the queuing delay of link (i, j) is expressed as:
wherein Tp ij Queuing delay from the satellite node i to the satellite node j; tp ijmax Is the maximum value of queuing delay; tp (Tp) ijmid Is Tp ijmax Half of that.
The routing strategy describes a calculation strategy of indexes such as transmission delay, propagation delay, queuing delay and the like based on fuzzy logic, then provides a total link cost function, and the satellite regularly updates the routing by adopting a Dijkstra algorithm and continuously monitors the state condition of an adjacent link to make a decision whether rerouting is needed or not. When a certain node encounters abnormal conditions such as blockage or sudden disconnection, the routing can be effectively avoided, rerouting is carried out in time, and the high efficiency of the routing is guaranteed while the satellite routing has certain survivability.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. A routing method based on fuzzy logic in a low earth orbit satellite network is characterized by comprising the following steps:
s1, shielding the dynamic property of the satellite network topology based on the control strategy of the virtual topology, namely the control strategy based on the topology is the period T of Wei Xingyun rotation sys Dividing the network topology into a series of equal-length time intervals n, wherein the network topology in each time interval is represented by one topology snapshot, and the time interval between two adjacent snapshots is
Namely refreshing the snapshot at the time t = w Δ t, w =0,1,2, … n; at each particular time, the network topology of the satellite can be considered static, and a corresponding snapshot represents the network topology at that time; initializing a satellite set, and recording the superiority of an inter-satellite link of two satellites which are not directly connected as infinity;
s2, calculating the superiority of a link formed by a source node and a target node according to the membership of transmission delay, propagation delay and queuing delay, wherein the superiority evaluation function of a path formed by the source node and the target node is expressed as:
wherein, lx st Path for Path superiority from source node s to destination node t (s,t) Is a link included on a path from a source node s to a destination node t; lx ij The link superiority from the satellite node i to the satellite node j is obtained; alpha (alpha) ("alpha") 1 、α 2 And alpha 3 Respectively are the weights of the link propagation delay, the transmission delay and the queuing delay membership;
and
the membership degrees of the link propagation delay, the transmission delay and the queuing delay are respectively;
s3, searching path superiority between all nodes and a source node in the satellite set Y, selecting a node k with the highest link superiority at present, putting the node into the set X, and deleting the node in the Y;
s4, detecting the state of neighbor nodes around a node k in the satellite set in real time, updating link superiority from a source node to all nodes in the satellite set Y, and performing rerouting if a path between the source node S and the node k is not a path with the highest superiority;
s5, repeating S3-S4, traversing all satellite nodes until the satellite set Y is empty, wherein the link superiority of the satellite nodes included in the satellite set X is highest, and obtaining the optimal routing path;
the initialized satellite set Y comprises all satellite nodes except the source node; the set of satellites X is initialized to include only the source node.
2. The fuzzy logic-based routing method of claim 1, wherein the membership function of the transmission delay from the satellite node i to the satellite node j is
Expressed as:
wherein Tc is ij The transmission delay from the satellite node i to the satellite node j is obtained; tc ijmid Is the length L of the transmitted data packet of the link (i, j) and a link transmission rate V of 0.8 times ij In a ratio of (i) to (ii)
Tc ijmax Is the transmitted data packet length L of the link (i, j) and 0.3 times the link transmission rate V ij In a ratio of (i) to (ii)
3. The method of claim 1, wherein the membership function of propagation delay from satellite node i to satellite node j is a function of membership of fuzzy logic in the low earth orbit satellite network
Expressed as:
wherein Td ij The propagation delay between the satellite node i and the satellite node j is obtained; td ijmin The ratio of the distance between the satellites to the constant of the light speed when the satellite runs to the pole area; td ijmax The maximum delay that can be tolerated by the low-earth satellite network.
4. The fuzzy logic-based routing method in the low earth orbit satellite network according to claim 3, wherein the propagation delay between the satellite node i and the satellite node j is represented as:
wherein, d ij The link distance between a satellite node i and a satellite node j is shown, R is the radius of the earth, h is the orbital height of the satellite, and theta is the included angle between two satellites and the connecting line of the earth center; c is the constant of the speed of light.
5. The fuzzy logic-based routing method of claim 1, wherein the membership function of the queuing delay from the satellite node i to the satellite node j is
Expressed as:
wherein Tp ij Queuing delay from the satellite node i to the satellite node j; tp (Tp) ijmax Is the maximum value of queuing delay; tp (Tp) ijmid Is Tp ijmax Half of that.
6. The fuzzy logic-based routing method in the low earth orbit satellite network as claimed in claim 5, wherein queuing delay Tp from satellite node i to satellite node j ij Expressed as:
wherein Pc i Buffering queued packets for transmissionLength of (n) i Is the number of packets in the queue, R ij The forwarding rate at which satellite node i sends data to satellite node j is the time.
7. The fuzzy logic-based routing method of claim 1, wherein the determining whether rerouting is required according to the path superiority between the source node s and the node k comprises:
setting the theoretical rising trigger threshold values of transmission delay, propagation delay and queuing delay as beta respectively 1 、β 2 、β 3 ；
The theoretical descending trigger thresholds of the transmission delay, the propagation delay and the queuing delay are set to be respectively
In the running process of the planet, if two or more indexes trigger the set threshold value, rerouting is carried out.
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2021
- 2021-03-12 CN CN202110268612.9A patent/CN113055079B/en active Active
- 2021-11-04 WO PCT/CN2021/128686 patent/WO2022188443A1/en active Application Filing
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| WO2022188443A1 (en) | 2022-09-15 |
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