CN110784884A - Satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search - Google Patents
Satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search Download PDFInfo
- Publication number
- CN110784884A CN110784884A CN201911080150.7A CN201911080150A CN110784884A CN 110784884 A CN110784884 A CN 110784884A CN 201911080150 A CN201911080150 A CN 201911080150A CN 110784884 A CN110784884 A CN 110784884A
- Authority
- CN
- China
- Prior art keywords
- satellite
- communication
- motion
- road
- visibility
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/02—Arrangements for optimising operational condition
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1851—Systems using a satellite or space-based relay
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18532—Arrangements for managing transmission, i.e. for transporting data or a signalling message
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
- H04W24/06—Testing, supervising or monitoring using simulated traffic
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a satellite communication-in-motion satellite exchange strategy determination method and a satellite communication-in-motion satellite exchange strategy determination system based on breadth-first search, which relate to the technical field of satellite communication-in-motion satellite exchange strategy determination, and comprise the steps of constructing a satellite communication-in-motion satellite exchange strategy formulation model corresponding to a target and determining an optimization target and influence factors of the satellite communication-in-motion satellite exchange strategy formulation model; calculating the visibility probability of each road point on the target communication road aiming at each overhead common satellite, and storing the visibility probability in a visibility probability set; based on an optimized target, influence factors and a visibility probability set, a satellite communication-in-motion satellite exchange strategy of a target communication road is determined with high precision and high efficiency by adopting a breadth-first search algorithm, so that the communication quality is optimal, and a user is ensured to transmit information reliably.
Description
Technical Field
The invention relates to the technical field of satellite communication-in-motion satellite exchange strategy determination, in particular to a satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search.
Background
The satellite communication-in-motion system is a broadband mobile satellite communication system in which a fixed earth station is moved to a moving carrier, and a satellite link is established and maintained with a target satellite in a moving or stationary state by using a synchronous orbit communication satellite. The application of satellite communication in motion realizes that information transmission between the satellite and the satellite is kept constantly in the moving process, however, a new problem also occurs in practical application, the communication in motion carrier is difficult to avoid encountering shelters such as mountains, bridges, high buildings and the like in the moving process, and the high-frequency carrier of the satellite communication in motion is transmitted by adopting the line of sight, so that the problem that the communication link is sheltered by shadow to cause signal interruption is a problem objectively existing in the satellite communication in motion, namely the shadow problem. For the problem, most of the current solutions focus on fast detection of shadows and fast recapture after exiting the shadows, but the existing shadow detection method only gives a judgment result of being blocked after the satellite communication in motion enters an area blocked by the shadows, and the probability of being blocked by the satellite communication in motion cannot be reduced.
Because the direction of the satellite communication-in-motion antenna beam is determined by the position of the communication-in-motion antenna and the orbit position of the target satellite, the direction of the antenna beam can change along with the change of the orbit position of the target satellite. Therefore, the communication state of the communication-in-motion can be changed by switching the satellite, and the probability that the communication-in-motion is shielded by shadow is reduced as much as possible.
Disclosure of Invention
In order to overcome one or more defects in the prior art, the invention provides a satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search.
In order to achieve the purpose, the invention provides the following scheme:
a satellite communication-in-motion satellite exchange strategy determination method based on breadth-first search comprises the following steps:
constructing a satellite communication-in-motion satellite exchange strategy formulation model corresponding to a target; the satellite communication-in-motion satellite change strategy formulation model is established on the premise that only one target driving path is fixed; the optimization target of the satellite communication-in-motion satellite exchange strategy formulation model is the optimal communication state of a target communication road, the communication state is represented by the average value of visibility probabilities on all road points, and the road points are sampling points which are arranged on the target communication road at intervals of a fixed value along the longitude direction or the latitude direction; influence factors of the satellite communication-in-motion satellite exchange strategy formulation model are satellite exchange times and satellite exchange cost;
calculating the visibility probability of each road point on the target communication road aiming at each overhead common satellite, and storing the visibility probability in a visibility probability set; the visibility probability set comprises M x N elements, wherein M represents the number of road points, N represents the number of overhead common satellites, each element represents the visibility probability that one road point is aligned with one overhead common satellite, and different elements represent different visibility probabilities;
determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting an breadth-first search algorithm based on the optimization target, the influence factors and the visibility probability set; the satellite communication-in-motion satellite exchange strategy set comprises one or more satellite communication-in-motion satellite exchange strategies suitable for the target communication road.
Optionally, the method further includes:
selecting a satellite communication-in-motion satellite exchange strategy which accords with the actual situation of the user from the satellite communication-in-motion satellite exchange strategy set according to the actual situation of the user; wherein the content of the first and second substances,
when the actual situation of a user is that the satellite changing operation process is skilled and more satellite changing time is willing to be consumed to obtain a better communication state, selecting a satellite communication-in-motion satellite changing strategy with more satellite changing times and high communication probability from the satellite communication-in-motion satellite changing strategy set;
when the actual situation of a user is unskilled in satellite communication-in-motion satellite switching operation, selecting a satellite communication-in-motion satellite switching strategy with low satellite switching times and low visibility probability from the satellite communication-in-motion satellite switching strategy set;
and when the actual situation of the user is that the two factors of the satellite changing time and the communication state are considered, selecting a satellite changing strategy in motion with the satellite changing times and the visibility probability in the middle from the satellite changing strategy set in motion.
Optionally, the calculating of the visibility probability that each road point on the target communication road aligns to each overhead common satellite and storing the visibility probability in the visibility probability set specifically includes:
uniformly sampling a target communication road to obtain the longitude and latitude of each road point;
acquiring overhead common satellite parameters;
and calculating the visibility probability of each road point aiming at each overhead common satellite by using a visibility algorithm and a probability visibility model according to the longitude and latitude of each road point and the overhead common satellite parameters, and storing the visibility probability in a visibility probability set.
Optionally, the determining a satellite communication-in-motion satellite exchange strategy set of the target communication road by using a breadth-first search algorithm based on the optimization target, the influence factors, and the visibility probability set specifically includes:
when the satellite changing times is 0, based on the optimal communication state, selecting a satellite name corresponding to the maximum visibility average probability and determining the satellite name as the satellite name of the target communication road according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite; the visibility average probability is the average value of the sum of visibility probabilities of all road points aligned to an overhead common satellite;
when the satellite changing times are larger than 0, determining a satellite moving satellite changing strategy set of the target communication road by adopting an breadth-first search algorithm according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite on the basis of the minimum satellite changing cost in the optimal communication state; wherein, different satellite changing times correspond to different satellite communication-in-motion satellite changing strategies.
The invention also provides a satellite communication-in-motion satellite exchange strategy determination system based on breadth-first search, which comprises the following steps:
the satellite communication-in-motion satellite exchange strategy formulation model construction module is used for constructing a satellite communication-in-motion satellite exchange strategy formulation model corresponding to a target; the satellite communication-in-motion satellite change strategy formulation model is established on the premise that only one target driving path is fixed; the optimization target of the satellite communication-in-motion satellite exchange strategy formulation model is the optimal communication state of a target communication road, the communication state is represented by the average value of visibility probabilities on all road points, and the road points are sampling points which are arranged on the target communication road at intervals of a fixed value along the longitude direction or the latitude direction; influence factors of the satellite communication-in-motion satellite exchange strategy formulation model are satellite exchange times and satellite exchange cost;
the visibility probability calculation module is used for calculating the visibility probability of each road point on the target communication road aiming at each overhead common satellite and storing the visibility probability in a visibility probability set; the visibility probability set comprises M x N elements, wherein M represents the number of road points, N represents the number of overhead common satellites, each element represents the visibility probability that one road point is aligned with one overhead common satellite, and different elements represent different visibility probabilities;
the satellite communication-in-motion satellite exchange strategy set determining module is used for determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting a breadth-first search algorithm based on the optimization target, the influence factors and the visibility probability set; the satellite communication-in-motion satellite exchange strategy set comprises one or more satellite communication-in-motion satellite exchange strategies suitable for the target communication road.
Optionally, the method further includes:
the user selection module is used for selecting a satellite communication-in-motion satellite exchange strategy which meets the actual situation of a user from the satellite communication-in-motion satellite exchange strategy set according to the actual situation of the user; wherein the content of the first and second substances,
when the actual situation of a user is that the satellite changing operation process is skilled and more satellite changing time is willing to be consumed to obtain a better communication state, selecting a satellite communication-in-motion satellite changing strategy with more satellite changing times and high communication probability from the satellite communication-in-motion satellite changing strategy set;
when the actual situation of a user is unskilled in satellite communication-in-motion satellite switching operation, selecting a satellite communication-in-motion satellite switching strategy with low satellite switching times and low visibility probability from the satellite communication-in-motion satellite switching strategy set;
and when the actual situation of the user is that the two factors of the satellite changing time and the communication state are considered, selecting a satellite changing strategy in motion with the satellite changing times and the visibility probability in the middle from the satellite changing strategy set in motion.
Optionally, the visibility probability calculating module specifically includes:
the sampling unit is used for uniformly sampling the target communication road to obtain the longitude and latitude of each road point;
the overhead common satellite parameter acquisition unit is used for acquiring overhead common satellite parameters;
and the visibility probability calculating unit is used for calculating the visibility probability of each road point aiming at each overhead common satellite by using a visibility algorithm and a probability visibility model according to the longitude and latitude of each road point and the overhead common satellite parameters, and storing the visibility probability in the visibility probability set.
Optionally, the satellite communication-in-motion satellite exchange strategy set determining module specifically includes:
the satellite name determining unit is used for selecting a satellite name corresponding to the maximum visibility average probability and determining the satellite name as the satellite name of the target communication road based on the visibility probability of each road point on the target communication road aiming at each overhead common satellite when the satellite changing times is 0; the visibility average probability is the average value of the sum of visibility probabilities of all road points aligned to an overhead common satellite;
the satellite communication-in-motion satellite exchange strategy set determining unit is used for determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting a breadth-first search algorithm according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite on the basis of the minimum satellite exchange cost in the optimal communication state when the satellite exchange times is more than 0; wherein, different satellite changing times correspond to different satellite communication-in-motion satellite changing strategies.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search, under the influence factors of communication state, satellite exchange times, satellite exchange cost and the like, firstly, the communication state of the satellite communication-in-motion satellite is evaluated through a visibility algorithm and a probability visibility model, so that a general user in the satellite can predict the communication state of a target communication road, a decision-making auxiliary function is provided for the user to transmit information, and the blindness of information transmission is reduced; and then, a satellite communication-in-motion satellite exchange strategy of the target communication road is determined with high precision and high efficiency by adopting a breadth-first search algorithm, so that the possibility that the satellite communication-in-motion satellite is shielded by shadow is reduced to the maximum extent, the communication quality is optimal, and the user is ensured to transmit information reliably.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic diagram illustrating a principle of a breadth-first search algorithm according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a satellite communication-in-motion satellite change strategy determination method based on breadth-first search according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a satellite communication-in-motion satellite change strategy determination system based on breadth-first search according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a target travel path according to an embodiment of 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 derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention is established on the premise that the satellite communication-in-motion communication path is fixed, and obtains the satellite changing strategy under the condition of different satellite changing times by using the breadth-first search algorithm, so that the communication quality is optimal, and the reliable information transmission of a user is ensured.
Breadth-first search algorithm
Breadth-first traversal is a commonly used graph search algorithm, and is a search process in a hierarchical progressive search manner. Starting from a certain node, firstly accessing the node, then finding out all non-accessed adjacent points of the node, accessing all nodes of the first adjacent point in the nodes after the access is finished, repeating the method until all the nodes are accessed, and the algorithm schematic diagram is shown in fig. 1.
Index system
Indexes related to a satellite communication-in-motion satellite changing strategy formulation model comprise a communication state, satellite changing times, satellite changing cost and road length.
(1) Communication state
The communication state is an important index reflecting the communication quality in the satellite, and is related to whether a user can effectively and reliably transmit information. And calculating the visibility probability of each point of the satellite communication-in-motion communication on a communication path by using the communication state evaluation model, wherein the communication state can be directly embodied by the visibility probability.
(2) Number of satellite changes
Satellites used for satellite communication are all geosynchronous orbit satellites, and due to different orbit positions of the satellites, the terrain covered by a connecting line between the satellite communication-in-motion satellite and the satellites is different, so that the satellite communication-in-motion satellite can have different communication states even when the satellite communication-in-motion satellite is aligned to different satellites at the same position. Information of a common communication satellite over china is given below, as shown in table 1. In the actual use process of the satellite communication-in-motion satellite, the operation of switching the satellite is complicated, and a large amount of time is consumed in the process, so that the satellite switching is too frequent, which is not in accordance with the actual engineering and needs to limit the satellite switching times.
TABLE 1 information table of common communication satellite over China
(3) Cost of satellite change
When the satellite communication-in-motion system is aligned to different satellites, different azimuth angles and elevation angles exist, and when the satellites are switched at a certain position, an antenna servo mechanism of the satellite communication-in-motion system needs to work to adjust the azimuth angle and the elevation angle of the antenna. Therefore, the satellite change cost is defined as the size of the azimuth angle and the pitch angle which need to be adjusted by the antenna when the satellite communication is changed in the satellite, the satellite change cost is larger when the changed angle is larger, and the satellite change cost is smaller otherwise. When the satellite communication in motion is at a certain satellite changing position, the satellite changing cost is determined by the longitude difference between two satellites before and after the satellite changing. Therefore, the star change cost is converted into an absolute value of the longitude difference between two satellites before and after the star change.
Fig. 2 is a schematic flowchart of a method for determining a satellite communication-in-motion satellite exchange strategy based on breadth-first search in an embodiment of the present invention, and as shown in fig. 2, the method for determining a satellite communication-in-motion satellite exchange strategy based on breadth-first search in the embodiment includes:
step 101: and constructing a satellite communication-in-motion satellite exchange strategy formulation model corresponding to the target.
In order to establish a satellite communication-in-motion satellite exchange strategy formulation model corresponding to a target conveniently, the invention makes the following assumptions:
(1) the analysis object in the satellite communication-in-motion satellite exchange strategy formulation model is a vehicle-mounted communication-in-motion object.
(2) The target travel path (or called target communication road) is fixed with only one, and then the target communication road is also fixed with only one, and road sampling points are arranged at intervals of 90m along the longitude direction or the latitude direction on the target travel path or the target communication road to analyze the communication state.
(3) The vehicle-mounted satellite communication-in-motion system runs at a constant speed of 60km/h, the satellite communication-in-motion system is not aligned with the vehicle-mounted communication-in-motion system for more than 5-6s and is regarded as lost, and communication is interrupted.
(4) The optimization target of the satellite communication-in-moving satellite-changing strategy formulation model is the optimal communication state of the whole target communication road, and the overall communication state of the whole target communication road can be represented by the average value of visibility probabilities on all road sampling points.
(5) The satellite communication-in-motion satellite change strategy formulation model is established on the premise that a target driving path is fixed and only one satellite is provided, so that the influencing factors are satellite change times and satellite change cost, and the road length is not considered.
Step 102: calculating the visibility probability of each road point on the target communication road aiming at each overhead common satellite, and storing the visibility probability in a visibility probability set; the visibility probability set comprises M x N elements, M represents the number of road points, N represents the number of overhead common satellites, each element represents the visibility probability that one road point is aligned with one overhead common satellite, and different elements represent different visibility probabilities.
Firstly, uniformly sampling a target communication road to obtain the longitude and latitude of each road point; then acquiring common satellite parameters in the sky of China; and finally, according to the longitude and latitude of each road point and the parameters of the overhead common satellites, calculating the visibility probability of all the road points to the 22 overhead common satellites in China by comprehensively utilizing a visibility algorithm and a probability visibility model, and storing the visibility probability data as a file (visibility probability set).
The visibility probability set comprises M rows and N columns of data, namely M x N elements; the element in the nth (1 is not less than M and not more than M) column of the mth (1 is not less than N and not more than N) row represents the visibility probability of the mth road point aligning to the nth overhead common satellite, the N elements in each row are the visibility probabilities of one road point respectively aligning to the N overhead common satellites, and the M elements in each column are the visibility probabilities of M road points aligning to one overhead common satellite.
Step 103: determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting an breadth-first search algorithm based on the optimization target, the influence factors and the visibility probability set; the satellite communication-in-motion satellite exchange strategy set comprises one or more satellite communication-in-motion satellite exchange strategies suitable for the target communication road.
Before executing step 103, further comprising: and preprocessing the visibility probability data.
In the satellite communication-in-motion satellite exchange strategy formulation model defined by the invention, the vehicle speed of the vehicle communication-in-motion satellite is 60km/h, and the vehicle communication-in-motion satellite is not aligned for more than 5-6s (the vehicle communication-in-motion satellite) and is regarded as communication interruption, which means that the vehicle communication-in-motion satellite is regarded as communication interruption if the vehicle communication-in-motion satellite is continuously in a shadow state on a road for more than 100 m. Since one point is taken every 90m along the longitude or latitude direction on the target communication path, the following preprocessing can be performed on the visibility probability data:
let A, B, C be three points in sequence on the target communication path, and the visibility probabilities between the three road points and the communication satellite are P
A、P
B、P
CIf P is
A＜0.8，P
C＜0.8，P
BIf > 0.9, then P
B＝(P
A+P
C) 2; if P
A＞0.9，P
C＞0.9，P
BIf < 0.9, then P
B＝(P
A+P
C)/2. And (4) setting the visibility probability to be zero at the road section where the tunnel appears.
This is because, if the visibility probabilities at A, C two points are both lower than 0.8, even if the visibility probability at B point is higher than 0.9, the communication state when the vehicle-mounted mobile phone passes through B point at a constant speed is still not good, and therefore the visibility probability at B point is approximated by the average value of the visibility probabilities at A, C two points; similarly, if the visibility probabilities at A, C are both higher than 0.9, even if the visibility probability at B is lower than 0.9, the communication state when the vehicle-mounted mobile phone passes through B at a constant speed is good, so the visibility probability at B is approximated by the average value of the visibility probabilities at A, C.
In the actual use process of satellite communication in motion, the operation of switching the satellite is complicated, the satellite switching is not in accordance with the engineering practice due to too frequent switching, and the satellite switching frequency is limited within 4 times (including 4 times) in the invention. And then, a satellite changing strategy is searched out by using a breadth-first search algorithm under the constraint conditions that the satellite changing times are 0, 1, 2, 3 and 4 respectively, so that the communication state of the satellite communication-in-motion system on the whole target communication path is optimal. The detailed steps are described below for both the case of no star change (i.e., the number of star changes is 0) and the case of multiple star changes.
The first condition is as follows: without changing stars (the number of times of changing stars is 0)
When the satellite changing times is 0, based on the optimal communication state, selecting a satellite name corresponding to the maximum visibility average probability and determining the satellite name as the satellite name of the target communication road according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite; the visibility average probability is the average of the sum of visibility probabilities of all road points aligned to an overhead common satellite.
Step 1: and establishing a container for storing all satellite information, and corresponding the satellite name, longitude and number, so as to be called as a satellite container.
Step 2: and establishing a container for storing the sequence of all road sampling points on the road and the visibility probability of each road sampling point aiming at each satellite, which is called as an attribute container.
And step 3: and reading the attribute container, calculating the visibility average probability of all road sampling points when the road sampling points are aligned with each satellite, finding out the maximum value and the corresponding satellite number, and then finding out the corresponding satellite name in the satellite container.
And 4, step 4: and outputting the maximum visibility average probability and the aligned satellite name.
Case two: multiple star changing (the star changing times is 1, 2, 3 or 4)
When the satellite changing times are larger than 0, determining a satellite moving satellite changing strategy set of the target communication road by adopting an breadth-first search algorithm according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite on the basis of the minimum satellite changing cost in the optimal communication state; wherein, different satellite changing times correspond to different satellite communication-in-motion satellite changing strategies.
Step 1: and establishing a container for storing all satellite information, and corresponding the satellite name, longitude and number, so as to be called as a satellite container.
Step 2: and establishing a container for storing the sequence of all road sampling points on the road and the visibility probability of each road sampling point aiming at each satellite, which is called as an attribute container.
And step 3: and establishing a container of the star-to-star sequence of the current road points, which is called as a star-to-star sequence container.
And 4, step 4: setting the star changing times m, and establishing a container for storing m star changing positions, which is called a star changing point container; and (4) selecting the positions of m satellite changing points, wherein the distance between the satellite changing points is required to be more than 1 kilometer, and the road is divided into m +1 sections.
And 5: reading the attribute container, firstly traversing the visibility probability of the 1 st segment of road, calculating the average value, and finding out the maximum visibility average probability of the 1 st segment of road
Then, the breadth-first search is adopted to advance backwards section by section, and the method is used for obtaining the search result
Note that two adjacent roads cannot align to the same satellite; and if the condition that the maximum visibility average probability value is obtained when the same road is aligned with a plurality of satellites, calculating and comparing the satellite change cost at the satellite change point, and selecting a combination with lower satellite change cost. The maximum visibility average probability of the whole road is set as
Then all will beAnd storing the satellite numbers corresponding to the road sampling points into a star sequence container, and storing the positions of all the star points into a star point changing container.
Step 6: step 4-5 is circulated, and the updating is continuously carried out
And (4) counting values, aligning values in the star sequence container and the star changing point container until positions of m star changing points are traversed.
And 7: finding out the satellite name corresponding to the satellite number stored in the satellite sequence container in the satellite container, and finally outputting
The position of the satellite changing point and the name of the satellite aligned with each road point.
Step 104: and selecting a satellite communication-in-motion satellite exchange strategy which accords with the actual situation of the user from the satellite communication-in-motion satellite exchange strategy set according to the actual situation of the user.
In the satellite changing strategies corresponding to different satellite changing times, the optimal visibility probability is increased along with the increase of the satellite changing times, the larger the satellite changing times is, the more time the satellite changing needs to consume is, the more frequent the satellite changing operation is, and then a user can select the satellite changing strategy according to the requirement of the user. Some users have higher requirements on the communication state and are skilled in mastering the satellite changing operation, more satellite changing time is willing to be consumed to obtain a better communication state, and for the users, a scheme with more satellite changing times and high visibility probability is recommended to be selected; some users are unskilled in mastering the satellite changing operation process and tend to the scheme with less satellite changing times, and for the users, the scheme with less satellite changing times and a general communication state is recommended to be selected; some users want to take both the factors of the operation time and the communication state into consideration, and for the users, a scheme with intermediate satellite changing times and communication states is recommended to be selected. The method specifically comprises the following three types:
firstly, when the user actual situation is that the satellite communication operation process is skilled and more satellite communication time is willing to be consumed to obtain a better communication state, selecting a satellite communication-in-motion satellite communication strategy with more satellite communication times and high visibility probability from the satellite communication-in-motion satellite communication strategy set.
Secondly, when the actual situation of the user is that the satellite communication-in-motion satellite exchange operation is unskilled, selecting a satellite communication-in-motion satellite exchange strategy with low satellite exchange times and low visibility probability from the satellite communication-in-motion satellite exchange strategy set.
Thirdly, when the actual situation of the user is that two factors of the satellite changing time and the communication state are considered, selecting a satellite changing strategy in motion with the satellite changing times and the visibility probability in the middle from the satellite changing strategy set in motion.
Fig. 3 is a schematic structural diagram of a satellite communication-in-motion satellite exchange strategy determination system based on breadth-first search in an embodiment of the present invention, and as shown in fig. 3, the present invention further provides a satellite communication-in-motion satellite exchange strategy determination system based on breadth-first search, including:
the satellite communication-in-motion satellite exchange strategy formulation model construction module 100 is used for constructing a satellite communication-in-motion satellite exchange strategy formulation model corresponding to a target; the satellite communication-in-motion satellite change strategy formulation model is established on the premise that only one target driving path is fixed; the optimization target of the satellite communication-in-motion satellite exchange strategy formulation model is the optimal communication state of a target communication road, the communication state is represented by the average value of visibility probabilities on all road points, and the road points are sampling points which are arranged on the target communication road at intervals of a fixed value along the longitude direction or the latitude direction; the influence factors of the satellite communication-in-motion satellite exchange strategy formulation model are satellite exchange times and satellite exchange cost.
The visibility probability calculation module 200 is configured to calculate a visibility probability that each road point on the target communication road aligns to each overhead common satellite, and store the visibility probability in a visibility probability set; the visibility probability set comprises M x N elements, M represents the number of road points, N represents the number of overhead common satellites, each element represents the visibility probability that one road point is aligned with one overhead common satellite, and different elements represent different visibility probabilities.
The satellite communication-in-motion satellite exchange strategy set determining module 300 is configured to determine a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting a breadth-first search algorithm based on the optimization target, the influence factors and the visibility probability set; the satellite communication-in-motion satellite exchange strategy set comprises one or more satellite communication-in-motion satellite exchange strategies suitable for the target communication road.
The user selection module 400 is used for selecting a satellite communication-in-motion satellite exchange strategy which meets the actual situation of the user from the satellite communication-in-motion satellite exchange strategy set according to the actual situation of the user; wherein the content of the first and second substances,
and when the user is in a skillful satellite change operation process in actual conditions and is willing to consume more satellite change time to obtain a better communication state, selecting a satellite communication-in-motion satellite change strategy with more satellite change times and high communication probability from the satellite communication-in-motion satellite change strategy set.
And when the actual situation of the user is unskilled in satellite switching operation, selecting a satellite switching-on-the-move strategy with less satellite switching-on times and low visibility probability from the satellite switching-on-the-move strategy set.
And when the actual situation of the user is that the two factors of the satellite changing time and the communication state are considered, selecting a satellite changing strategy in motion with the satellite changing times and the visibility probability in the middle from the satellite changing strategy set in motion.
The visibility probability calculating module 200 specifically includes:
and the sampling unit is used for uniformly sampling the target communication road to obtain the longitude and latitude of each road point.
And the overhead common satellite parameter acquisition unit is used for acquiring overhead common satellite parameters.
And the visibility probability calculating unit is used for calculating the visibility probability of each road point aiming at each overhead common satellite by using a visibility algorithm and a probability visibility model according to the longitude and latitude of each road point and the overhead common satellite parameters, and storing the visibility probability in the visibility probability set.
The module 300 for determining a satellite change strategy set in satellite communication includes:
the satellite name determining unit is used for selecting a satellite name corresponding to the maximum visibility average probability and determining the satellite name as the satellite name of the target communication road based on the visibility probability that each road point on the target communication road aligns to each overhead common satellite on the basis of the optimal communication state when the satellite changing times is 0; the visibility average probability is the average of the sum of visibility probabilities of all road points aligned to an overhead common satellite.
The satellite communication-in-motion satellite exchange strategy set determining unit is used for determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting a breadth-first search algorithm according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite on the basis of the minimum satellite exchange cost in the optimal communication state when the satellite exchange times is more than 0; wherein, different satellite changing times correspond to different satellite communication-in-motion satellite changing strategies.
A specific example of an application is now provided for purposes of illustrating the method or system provided by the present invention. A road is selected near Lantian county in Shaanxi province, and a starting point and an end point are set, as shown in FIG. 4. There are 642 road sampling points on the road, and the specific data is shown in table 2.
TABLE 2 road sampling point data sheet
And calculating the visibility probability of each road sampling point corresponding to different satellites. The elevation data used was DEM data with an accuracy of 60m, the visibility algorithm used was JANUS visibility algorithm, and the calculation results are shown in table 3.
TABLE 3 road sampling point visibility probability table
The star changing strategy under different star changing times is made based on the visibility probability result in table 3 and is shown in table 4, and the numbers on the arrows in table 4 represent the serial numbers of the road points.
TABLE 4 Star changing strategy result table under different star changing times
Finally, selecting a satellite changing strategy for the user according to the user requirement, and proposing a selection scheme of four or five aiming at the user who is willing to consume more satellite changing time to obtain a better communication state; aiming at an inexperienced user mastered in the star changing operation process, a first scheme is suggested to be selected; and the selection scheme two or three is suggested for the user who wants to take both the factors of the operation time and the communication state into consideration.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A satellite communication-in-motion satellite exchange strategy determination method based on breadth-first search is characterized by comprising the following steps:
constructing a satellite communication-in-motion satellite exchange strategy formulation model corresponding to a target; the satellite communication-in-motion satellite change strategy formulation model is established on the premise that only one target driving path is fixed; the optimization target of the satellite communication-in-motion satellite exchange strategy formulation model is the optimal communication state of a target communication road, the communication state is represented by the average value of visibility probabilities on all road points, and the road points are sampling points which are arranged on the target communication road at intervals of a fixed value along the longitude direction or the latitude direction; influence factors of the satellite communication-in-motion satellite exchange strategy formulation model are satellite exchange times and satellite exchange cost;
calculating the visibility probability of each road point on the target communication road aiming at each overhead common satellite, and storing the visibility probability in a visibility probability set; the visibility probability set comprises M x N elements, wherein M represents the number of road points, N represents the number of overhead common satellites, each element represents the visibility probability that one road point is aligned with one overhead common satellite, and different elements represent different visibility probabilities;
determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting an breadth-first search algorithm based on the optimization target, the influence factors and the visibility probability set; the satellite communication-in-motion satellite exchange strategy set comprises one or more satellite communication-in-motion satellite exchange strategies suitable for the target communication road.
2. The method for determining satellite communication-in-moving satellite exchange strategy based on breadth-first search according to claim 1, further comprising:
selecting a satellite communication-in-motion satellite exchange strategy which accords with the actual situation of the user from the satellite communication-in-motion satellite exchange strategy set according to the actual situation of the user; wherein the content of the first and second substances,
when the actual situation of a user is that the satellite changing operation process is skilled and more satellite changing time is willing to be consumed to obtain a better communication state, selecting a satellite communication-in-motion satellite changing strategy with more satellite changing times and high communication probability from the satellite communication-in-motion satellite changing strategy set;
when the actual situation of a user is unskilled in satellite communication-in-motion satellite switching operation, selecting a satellite communication-in-motion satellite switching strategy with low satellite switching times and low visibility probability from the satellite communication-in-motion satellite switching strategy set;
and when the actual situation of the user is that the two factors of the satellite changing time and the communication state are considered, selecting a satellite changing strategy in motion with the satellite changing times and the visibility probability in the middle from the satellite changing strategy set in motion.
3. The method for determining satellite-in-motion satellite exchange strategy based on breadth-first search according to claim 1, wherein the calculating of the visibility probability that each road point on the target communication path is aligned to each overhead common satellite and storing in a visibility probability set specifically includes:
uniformly sampling a target communication road to obtain the longitude and latitude of each road point;
acquiring overhead common satellite parameters;
and calculating the visibility probability of each road point aiming at each overhead common satellite by using a visibility algorithm and a probability visibility model according to the longitude and latitude of each road point and the overhead common satellite parameters, and storing the visibility probability in a visibility probability set.
4. The method for determining the satellite communication-in-motion satellite exchange strategy based on breadth-first search according to claim 1, wherein the determining the satellite communication-in-motion satellite exchange strategy set of the target communication road by adopting a breadth-first search algorithm based on the optimization target, the influence factors and the visibility probability set specifically comprises:
when the satellite changing times is 0, based on the optimal communication state, selecting a satellite name corresponding to the maximum visibility average probability and determining the satellite name as the satellite name of the target communication road according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite; the visibility average probability is the average value of the sum of visibility probabilities of all road points aligned to an overhead common satellite;
when the satellite changing times are larger than 0, determining a satellite moving satellite changing strategy set of the target communication road by adopting an breadth-first search algorithm according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite on the basis of the minimum satellite changing cost in the optimal communication state; wherein, different satellite changing times correspond to different satellite communication-in-motion satellite changing strategies.
5. A satellite communication-in-motion satellite exchange strategy determination system based on breadth-first search is characterized by comprising the following steps:
the satellite communication-in-motion satellite exchange strategy formulation model construction module is used for constructing a satellite communication-in-motion satellite exchange strategy formulation model corresponding to a target; the satellite communication-in-motion satellite change strategy formulation model is established on the premise that only one target driving path is fixed; the optimization target of the satellite communication-in-motion satellite exchange strategy formulation model is the optimal communication state of a target communication road, the communication state is represented by the average value of visibility probabilities on all road points, and the road points are sampling points which are arranged on the target communication road at intervals of a fixed value along the longitude direction or the latitude direction; influence factors of the satellite communication-in-motion satellite exchange strategy formulation model are satellite exchange times and satellite exchange cost;
the visibility probability calculation module is used for calculating the visibility probability of each road point on the target communication road aiming at each overhead common satellite and storing the visibility probability in a visibility probability set; the visibility probability set comprises M x N elements, wherein M represents the number of road points, N represents the number of overhead common satellites, each element represents the visibility probability that one road point is aligned with one overhead common satellite, and different elements represent different visibility probabilities;
the satellite communication-in-motion satellite exchange strategy set determining module is used for determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting a breadth-first search algorithm based on the optimization target, the influence factors and the visibility probability set; the satellite communication-in-motion satellite exchange strategy set comprises one or more satellite communication-in-motion satellite exchange strategies suitable for the target communication road.
6. The system for determining satellite communication-in-moving satellite exchange strategy based on breadth-first search according to claim 5, further comprising:
the user selection module is used for selecting a satellite communication-in-motion satellite exchange strategy which meets the actual situation of a user from the satellite communication-in-motion satellite exchange strategy set according to the actual situation of the user; wherein the content of the first and second substances,
when the actual situation of a user is that the satellite changing operation process is skilled and more satellite changing time is willing to be consumed to obtain a better communication state, selecting a satellite communication-in-motion satellite changing strategy with more satellite changing times and high communication probability from the satellite communication-in-motion satellite changing strategy set;
when the actual situation of a user is unskilled in satellite communication-in-motion satellite switching operation, selecting a satellite communication-in-motion satellite switching strategy with low satellite switching times and low visibility probability from the satellite communication-in-motion satellite switching strategy set;
and when the actual situation of the user is that the two factors of the satellite changing time and the communication state are considered, selecting a satellite changing strategy in motion with the satellite changing times and the visibility probability in the middle from the satellite changing strategy set in motion.
7. The system for determining satellite change strategy in satellite communication based on breadth-first search according to claim 5, wherein the visibility probability calculation module specifically includes:
the sampling unit is used for uniformly sampling the target communication road to obtain the longitude and latitude of each road point;
the overhead common satellite parameter acquisition unit is used for acquiring overhead common satellite parameters;
and the visibility probability calculating unit is used for calculating the visibility probability of each road point aiming at each overhead common satellite by using a visibility algorithm and a probability visibility model according to the longitude and latitude of each road point and the overhead common satellite parameters, and storing the visibility probability in the visibility probability set.
8. The system for determining a satellite communication-in-moving satellite exchange strategy based on breadth-first search according to claim 5, wherein the satellite communication-in-moving satellite exchange strategy set determining module specifically includes:
the satellite name determining unit is used for selecting a satellite name corresponding to the maximum visibility average probability and determining the satellite name as the satellite name of the target communication road based on the visibility probability of each road point on the target communication road aiming at each overhead common satellite when the satellite changing times is 0; the visibility average probability is the average value of the sum of visibility probabilities of all road points aligned to an overhead common satellite;
the satellite communication-in-motion satellite exchange strategy set determining unit is used for determining a satellite communication-in-motion satellite exchange strategy set of a target communication road by adopting a breadth-first search algorithm according to the visibility probability of each road point on the target communication road aiming at each overhead common satellite on the basis of the minimum satellite exchange cost in the optimal communication state when the satellite exchange times is more than 0; wherein, different satellite changing times correspond to different satellite communication-in-motion satellite changing strategies.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911080150.7A CN110784884B (en) | 2019-11-07 | 2019-11-07 | Satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911080150.7A CN110784884B (en) | 2019-11-07 | 2019-11-07 | Satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110784884A true CN110784884A (en) | 2020-02-11 |
| CN110784884B CN110784884B (en) | 2020-07-31 |
Family
ID=69389952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911080150.7A Active CN110784884B (en) | 2019-11-07 | 2019-11-07 | Satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110784884B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08148923A (en) * | 1994-11-24 | 1996-06-07 | Nippon Hoso Kyokai <Nhk> | Method for detecting polarization plane and polarization control method in satellite communication |
| EP2530852A1 (en) * | 2011-06-03 | 2012-12-05 | Emirates Telecommunications Corporation | Design and implementation of power supply system for communication equipment in a vehicle providing mobile service coverage for a moving convoy using satellite -bts- to- bsc link. |
| CN106602261A (en) * | 2016-12-21 | 2017-04-26 | 中云卫星通信有限公司 | Shipborne satellite communication system and method for shipborne antenna to track satellite |
| CN107561565A (en) * | 2017-10-19 | 2018-01-09 | 中国科学院空间应用工程与技术中心 | The spaceborne GNSS difference Relative Navigation of low orbit spacecraft changes the processing method of star |
-
2019
- 2019-11-07 CN CN201911080150.7A patent/CN110784884B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08148923A (en) * | 1994-11-24 | 1996-06-07 | Nippon Hoso Kyokai <Nhk> | Method for detecting polarization plane and polarization control method in satellite communication |
| EP2530852A1 (en) * | 2011-06-03 | 2012-12-05 | Emirates Telecommunications Corporation | Design and implementation of power supply system for communication equipment in a vehicle providing mobile service coverage for a moving convoy using satellite -bts- to- bsc link. |
| CN106602261A (en) * | 2016-12-21 | 2017-04-26 | 中云卫星通信有限公司 | Shipborne satellite communication system and method for shipborne antenna to track satellite |
| CN107561565A (en) * | 2017-10-19 | 2018-01-09 | 中国科学院空间应用工程与技术中心 | The spaceborne GNSS difference Relative Navigation of low orbit spacecraft changes the processing method of star |
Non-Patent Citations (2)
| Title |
|---|
| 罗虎林: "动中通卫星直播车的研究与设计", 《现代电视技术》 * |
| 陈万通等: "一种适用于动态姿态测量的换星方法", 《航天控制》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110784884B (en) | 2020-07-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108763558B (en) | Crowdsourcing map road quality improvement method based on map matching | |
| Yuan et al. | An interactive-voting based map matching algorithm | |
| CN108346284A (en) | A kind of uncertain road network track of vehicle prediction technique based on Markov model | |
| CN102147260B (en) | Electronic map matching method and device | |
| CN102102992B (en) | Multistage network division-based preliminary screening method for matched roads and map matching system | |
| CN111324848B (en) | Vehicle-mounted track data optimization method of mobile laser radar measurement system | |
| CN105444769A (en) | Map matching method and device | |
| CN106997666B (en) | Method for obtaining traffic flow speed by switching positions of mobile phone signaling data | |
| CN106528589A (en) | Data management method and device | |
| CN102901505A (en) | Navigation system, and road matching method and device | |
| CN112084289B (en) | Track fusion method and device | |
| CN112017436B (en) | Method and system for predicting urban traffic travel time | |
| CN104270714A (en) | Method and device for determining action trails of user | |
| CN115585816B (en) | Lane-level map matching method and device | |
| CN110346821A (en) | A kind of SINS/GPS integrated attitude determination localization method solving the problems, such as GPS long-time losing lock and system | |
| CN106855878A (en) | History wheelpath display methods and device based on electronic map | |
| CN115655257A (en) | High-precision map updating method, device, equipment and storage medium | |
| CN110784884B (en) | Satellite communication-in-motion satellite exchange strategy determination method and system based on breadth-first search | |
| CN109655060B (en) | INS/UWB integrated navigation algorithm and system based on KF/FIR and LS-SVM fusion | |
| CN111123914A (en) | Vision scene-based direction estimation method for mowing robot | |
| CN113985406A (en) | Target track splicing method for marine radar | |
| CN112100308B (en) | Similarity query method for Beidou space-time trajectory | |
| CN109683180A (en) | A kind of GPS motion profile optimization method and system | |
| CN116958316A (en) | Topology map generation method, device, computer equipment and storage medium | |
| CN115455814B (en) | Pollution source searching and pollutant distribution predicting method and system based on deep learning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |