CN113055079A - Fuzzy logic-based routing method in low-earth-orbit satellite network - Google Patents

Fuzzy logic-based routing method in low-earth-orbit satellite network Download PDF

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CN113055079A
CN113055079A CN202110268612.9A CN202110268612A CN113055079A CN 113055079 A CN113055079 A CN 113055079A CN 202110268612 A CN202110268612 A CN 202110268612A CN 113055079 A CN113055079 A CN 113055079A
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CN113055079B (en
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李云
郑丹
吴广富
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Chongqing University of Post and Telecommunications
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
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    • H04B7/14—Relay systems
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
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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

Fuzzy logic-based routing method in low-earth-orbit satellite network
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 earth 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 constant variation of the inter-satellite distance causes uncertainty in 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 of the space environment and the link complex environment, so that the routing survivability performance is poor, and a distance is still long from the practical application. 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 dynamics of the satellite network topology based on the control strategy of the 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 the source node to the 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 in the satellite set Y and a source node, 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 the 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 the 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.
Furthermore, the control strategy based on the virtual topology shields the dynamic property of the satellite network topology, namely the control strategy based on the topology is about the period T of the satellite operationsysDividing 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
Figure BDA0002973348460000021
That is, the snapshot is refreshed 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:
Figure BDA0002973348460000022
Figure BDA0002973348460000023
wherein, LxstPath 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; lxijThe link superiority from the satellite node i to the satellite node j is obtained; alpha is alpha1、α2And alpha3Respectively are the weights of the link propagation delay, the transmission delay and the queuing delay membership;
Figure BDA0002973348460000024
and
Figure BDA0002973348460000025
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
Figure BDA0002973348460000026
Expressed as:
Figure BDA0002973348460000031
wherein TcijThe transmission delay from the satellite node i to the satellite node j is obtained; tcijmidIs the length L of the transmitted data packet of the link (i, j) and a link transmission rate V of 0.8 timesijRatio of (i) to (ii)
Figure BDA0002973348460000032
TcijmaxIs the transmitted data packet length L of the link (i, j) and 0.3 times the link transmission rate VijRatio of (i) to (ii)
Figure BDA0002973348460000033
Further, the membership function mu of the propagation delay from the satellite node i to the satellite node jTdij(x) Expressed as:
Figure BDA0002973348460000034
wherein, TdijThe propagation delay between the satellite node i and the satellite node j is obtained; tdijminThe ratio of the distance between the satellites to the constant of the light speed when the satellite runs to the pole area; tdijmaxThe 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:
Figure BDA0002973348460000035
Figure BDA0002973348460000036
wherein d isijThe 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
Figure BDA0002973348460000041
Expressed as:
Figure BDA0002973348460000042
wherein TpijQueuing delay from the satellite node i to the satellite node j; tp (Tp)ijmaxIs the maximum value of queuing delay; tp (Tp)ijmidIs TpijmaxHalf of that.
Further, queuing delay Tp from satellite node i to satellite node jijExpressed as:
Figure BDA0002973348460000043
wherein PciFor transmitting the length of the data packet in the buffer queue, niFor the number of packets in the queue, RijThe 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 respectively1、β2、β3；
Setting upThe theoretical descending trigger threshold values of the transmission delay, the propagation delay and the queuing delay are respectively
Figure BDA0002973348460000044
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.
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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 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.
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 dynamics of the satellite network topology based on the control strategy of the 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 the source node to the 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 in the satellite set Y and a source node, 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 the 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 the 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 satellite operation period T into z time intervals by adopting a control strategy of the 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
Figure BDA0002973348460000051
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 Gm。
Based on the correlation indexes of the fuzzy logic, the invention then proposes the following link cost function:
Lxij＝α1Tdij+α2Tcij+α3Tpij；
wherein, LxijIs the link cost function from satellite node i to satellite node j. Alpha is alpha1、α2、α3The 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 respectively1、β2、β3. Three drop trigger thresholds for link cost drop are
Figure BDA0002973348460000061
During the satellite operation, if only one item reaches the threshold value, no rerouting is performed. 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 problem that the routing is not efficient and the communication burden of the routing is increased due to the fact that the routing is immediately rerouted by a certain index can be effectively reduced. 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 for 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 assessment function of the path formed from the source node to the target node is expressed as:
Figure BDA0002973348460000062
wherein, LxstPath 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; lxijThe link superiority from the satellite node i to the satellite node j is obtained;
Figure BDA0002973348460000071
and
Figure BDA0002973348460000072
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 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 TcijIt adopts the formula
Figure BDA0002973348460000073
Calculation, L is the length of the data packet, VijThe 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 can also change within a certain range, and the more the network is congested, 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 incapable of communication. Therefore, the membership function of the transmission delay is expressed as:
Figure BDA0002973348460000074
when Tc in the above formulaijTc or lessijmidIf the value of the membership function of the transmission delay of the link is 1, the standard of the optimal link is achieved; when Tc isijGreater than TcijmidThe membership function value is gradually reduced to 0, namely the link performance is increasingly poor; wherein TcijmidIs the ratio of the length of the transmitted data packet of link (i, j) to 0.8 times the link transmission rate, i.e.
Figure BDA0002973348460000075
This is because the transmission rate of a link in an actual network often does not reach a set value, and the transmission performance of the link is considered to be optimal when the transmission delay reaches 80% or more of the set value. TcijmaxIs the ratio of the length of the transmitted data packet of link (i, j) to 0.3 times the link transmission rate, i.e.
Figure BDA0002973348460000081
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 TdijIt adopts the formula
Figure BDA0002973348460000082
The calculation is carried out in such a way that,dijand 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:
Figure BDA0002973348460000083
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. Thus, the membership function for propagation delay is expressed as:
Figure BDA0002973348460000084
Tdijmini.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 Tdijmin. When propagation delay is less than TdijminAnd 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
Figure BDA0002973348460000091
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
Figure BDA0002973348460000092
The membership slowly decreases until the propagation delay reaches the maximum delay Td tolerable by the low-orbit satellite networkijmaxThe 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 TdijminAnd propagation delay greater than TdijmaxAnd 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 TdijminAnd TdijmaxWith TdijThe 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 inter-satellite links, uncertainty also exists in the queuing condition of a buffer area of the link, so that the queuing delay is described by using a membership function. Recording the queuing time delay from satellite node i to satellite node j as TpijThe calculation formula is
Figure BDA0002973348460000093
PciFor transmitting the length of the data packet in the buffer queue, niFor the number of packets in the queue, RijThe 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 areaiIs 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 nimaxThen the maximum value of the queuing delay is
Figure BDA0002973348460000094
When the queuing delay is less than half Td of the maximum value of the queuing delayijmidWhen the link is considered to meet the optimal standardThe degree of membership is 1. When the queuing delay of the link is larger than TdijmidAt this time, more and more data packets in the buffer area are generated, and the value of the membership function is rapidly reduced. Thus, the membership function for the queuing delay of link (i, j) is expressed as:
Figure BDA0002973348460000101
wherein TpijQueuing delay from the satellite node i to the satellite node j; tp (Tp)ijmaxIs the maximum value of queuing delay; tp (Tp)ijmidIs TpijmaxHalf 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 (9)

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 dynamics of the satellite network topology based on the control strategy of the 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 the source node to the 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 in the satellite set Y and a source node, 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 the 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 the 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 method as claimed in claim 1, wherein the topology-based control strategy masks the dynamics of the topology of the satellite network, i.e. the topology-based control strategy is a period T of satellite operationsysDividing 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
Figure FDA0002973348450000011
That is, the snapshot is refreshed 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.
3. The fuzzy logic-based routing method of claim 1, wherein the superiority assessment function of the path from the source node to the destination node is expressed as:
Figure FDA0002973348450000021
Figure FDA0002973348450000022
wherein, LxstPath 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; lxijThe link superiority from the satellite node i to the satellite node j is obtained; alpha is alpha1、α2And alpha3Respectively are the weights of the link propagation delay, the transmission delay and the queuing delay membership;
Figure FDA0002973348450000023
and
Figure FDA0002973348450000029
which are the membership degrees of the link propagation delay, the transmission delay and the queuing delay, respectively.
4. The fuzzy logic-based routing method of claim 3, wherein the membership function of the transmission delay from the satellite node i to the satellite node j is
Figure FDA0002973348450000024
Expressed as:
Figure FDA0002973348450000025
wherein TcijThe transmission delay from the satellite node i to the satellite node j is obtained; tcijmidIs the length L of the transmitted data packet of the link (i, j) and a link transmission rate V of 0.8 timesijRatio of (i) to (ii)
Figure FDA0002973348450000026
TcijmaxIs the transmitted data packet length L of the link (i, j) and 0.3 times the link transmission rate VijRatio of (i) to (ii)
Figure FDA0002973348450000027
5. The fuzzy logic-based routing method of claim 3, wherein the membership function of the propagation delay from the satellite node i to the satellite node j is
Figure FDA0002973348450000028
Expressed as:
Figure FDA0002973348450000031
wherein, TdijThe propagation delay between the satellite node i and the satellite node j is obtained; tdijminThe ratio of the distance between the satellites to the constant of the light speed when the satellite runs to the pole area; tdijmaxThe maximum delay that can be tolerated by the low-earth satellite network.
6. The fuzzy logic-based routing method in the low earth orbit satellite network according to claim 5, wherein the propagation delay between the satellite node i and the satellite node j is represented as:
Figure FDA0002973348450000032
Figure FDA0002973348450000033
wherein d isijIs the link distance between the satellite node i and the satellite node j, and R is the groundThe radius of a sphere, h is the satellite orbit height, and theta is the included angle between two satellites and the connecting line of the geocentric; c is the light speed constant.
7. The fuzzy logic-based routing method of claim 3, wherein the membership function of queuing delay from satellite node i to satellite node j
Figure FDA0002973348450000034
Expressed as:
Figure FDA0002973348450000035
wherein TpijQueuing delay from the satellite node i to the satellite node j; tp (Tp)ijmaxIs the maximum value of queuing delay; tp (Tp)ijmidIs TpijmaxHalf of that.
8. The fuzzy logic-based routing method in the low earth orbit satellite network as claimed in claim 7, wherein a queuing delay Tp from satellite node i to satellite node jijExpressed as:
Figure FDA0002973348450000041
wherein PciFor transmitting the length of the data packet in the buffer queue, niFor the number of packets in the queue, RijThe forwarding rate at which satellite node i sends data to satellite node j is the time.
9. The fuzzy logic-based routing method of claim 3, wherein the determining whether rerouting is required according to the path superiority between the source node s and the node k comprises:
setting theoretical rising trigger threshold of transmission delay, propagation delay and queuing delayAre each beta1、β2、β3；
The theoretical descending trigger threshold values of the transmission delay, the propagation delay and the queuing delay are respectively set as
Figure FDA0002973348450000042
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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