CN113301591B - Inter-satellite network optimization method for global networking observation satellite constellation - Google Patents
Inter-satellite network optimization method for global networking observation satellite constellation Download PDFInfo
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Abstract
The application relates to the technical field of inter-satellite network information transmission, and provides an inter-satellite network optimization method for observing satellite constellations through global networking, which comprises the following steps: constructing an inter-satellite network; constructing an inter-satellite network optimization problem; and solving the inter-satellite network optimization problem based on a Dijkstra method of load weighting. The method optimizes the average transmission delay of the inter-satellite link and ensures the high-timeliness transmission of important information. And the traffic on a single link can be effectively balanced by multipath transmission, so that link congestion in a network is avoided, and a good link balancing effect is obtained.
Description
Technical Field
The present application relates generally to the field of inter-satellite network information transmission technology. In particular, the application relates to an inter-satellite network optimization method for global networking observation satellite constellation.
Background
The global networking observation satellite constellation generally consists of a plurality of track surfaces, and each track surface is uniformly distributed with a plurality of satellites. The satellites of the constellation transmit information through inter-satellite links, and the inter-satellite links are bidirectional links and can transmit information bidirectionally. Each satellite has four inter-satellite links, including two intra-orbital long-term inter-satellite links, which remain in continuous communication with two adjacent satellites in the orbital plane; and inter-satellite links between the two track surfaces are sequentially established according to specific visible relations and communication relations with satellites of the east and west adjacent track surfaces, and inter-satellite link maintenance times at different periods are different.
The global networking observation satellite constellation needs to ensure the information transmission between any satellites in the whole network at any time. In the prior art, a method based on a single strategy, such as an LHP (Least hop Path) method, is generally used in the process of information transmission, and the problem that the information transmission is concentrated on a few or even a single inter-satellite links to cause link congestion exists.
Disclosure of Invention
The application provides an inter-satellite network optimization method for a global networking observation satellite constellation, which at least partially solves the problem of link congestion caused by the fact that information transmission is concentrated on a few or even a single inter-satellite link when the information transmission is carried out by the global networking observation satellite constellation in the prior art, and comprises the following steps:
constructing an inter-satellite network, wherein the inter-satellite network is used for representing inter-satellite information transmission of a global networking observation satellite constellation;
constructing an inter-satellite network optimization problem, wherein the inter-satellite network optimization problem is used for optimizing inter-satellite network time delay and optimizing inter-satellite network traffic load; and
and solving the inter-satellite network optimization problem based on a Dijkstra method of load weighting.
In one embodiment of the application, it is provided that the construction of the inter-satellite network comprises the following steps:
representing the connection relation of the inter-satellite network as a side e between satellite nodes sat;
representing connectivity of inter-satellite links of an inter-satellite network as an inter-satellite link connectivity matrix a= { a ij (wherein a) ij Representing satellite node sat i And sat j Inter-satellite link connectivity between the two; and
representing the information transmission path between satellites as the information from the source satellite node sat o To the destination satellite node sat d The passing edge Path (o, d) is represented by the following formula:
Path(o，d)＝{e 1 ，e 2 ，...，e T }
wherein e T Representing slave source satellite node sat o To the destination satellite node sat d Passing by the T-th edge.
In one embodiment of the application, it is provided that the satellite node sat is based on i And sat i Inter-satellite transmission distance L between ij Determining the satellite node sat i And sat j Inter-satellite link connectivity relationship a between ij Expressed by the following formula:
wherein L is min ，L max Representing the minimum and maximum inter-satellite transmission distances between satellite nodes of the inter-satellite network, respectively.
In one embodiment of the application, it is provided that the path of passage comprises a functionDetermining whether the edge is included in the path, expressed as:
in one embodiment of the application, it is provided that the minimum inter-satellite transmission distance L min Determining according to the observation capability of the satellite; and
maximum inter-satellite transmission distance L max Calculated according to the following formula:
L max ＝2×(H s +R e )×sin(θ ISL /2)
wherein H is s Representing the altitude of the satellite, R e Represents the radius, θ, of the earth ISL The maximum communication geocentric angle is denoted as θ ISL 。
In one embodiment of the application, it is provided that the delay optimization for the inter-satellite network is constructed as a first optimization problem, which is expressed as:
wherein f (delay) represents a delay optimization objective function, w s Representing the propagation delay weight of the s-th piece of information,the kth side selected by the transmission path representing the s-th piece of information, and C represents the speed of light; and
the traffic load optimization for the inter-satellite network is constructed as a second optimization problem expressed as:
wherein f (debt) represents a flow optimization objective function, w debit s Representing the transmission flow weight of the s-th information, and the bit s Representing the transmission traffic of the s-th piece of information,representation e k A decision function of whether or not on the transmission path is confirmed.
In one embodiment of the application, it is provided that the solving of the inter-satellite network optimization problem based on the Dijkstra method of load weighting comprises the following steps:
determining an inter-satellite link communicable matrix of an inter-satellite network;
the priority ordering is carried out on the information to be transmitted;
determining a maximum load of the inter-satellite link; and
the transmission path of the information is calculated based on the Dijkstra method, and the method comprises the following steps:
calculating a transmission path weighting matrix, wherein the transmission path weighting matrix comprises Dijkstra weights of inter-satellite links, and when in first calculation, the transmission delay of each inter-satellite link is calculated as the Dijkstra weight of each inter-satellite link according to the transmission path length of each inter-satellite link;
performing Dijkstra shortest path calculation on the information with the highest priority to generate a Dijkstra shortest transmission path;
calculating the load of each inter-satellite link on the Dijkstra shortest transmission path;
calculating whether an inter-satellite link exceeds the maximum load according to the maximum load, eliminating the inter-satellite link exceeding the maximum load when the inter-satellite link exists, and carrying out Dijkstra calculation again; when the load does not exist, generating a new Dijkstra weight according to the accumulated load of each inter-satellite link, and updating a transmission path weighting matrix; and
repeating the step of calculating the transmission path of the information based on the Dijkstra method according to the priority from high to low.
In one embodiment of the application, it is provided that the information to be transmitted is prioritized according to the task type and the data type of the information to be transmitted.
In one embodiment of the application, it is provided that the sum of each type of information to be transmitted is calculated from the data quantity of the information to be transmitted and that the maximum load of the inter-satellite link is determined, said maximum load comprising a 2/3 bandwidth or a 1/2 bandwidth.
The application has at least the following beneficial effects: the method of the application adopts a transmission strategy with lower time delay to transmit the information with high priority, disperses the link traffic with high load under the condition of not exceeding the maximum time delay requirement, adopts the link transmission with higher time delay with low priority, and realizes the traffic balance. Compared with the information transmission method based on a single strategy in the prior art, the method optimizes the average transmission delay of the inter-satellite link and ensures the high-timeliness transmission of important information. And the traffic on a single link can be effectively balanced by multipath transmission, so that link congestion in a network is avoided, and a good link balancing effect is obtained.
Drawings
To further clarify the advantages and features present in various embodiments of the present application, a more particular description of various embodiments of the present application will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the application and are therefore not to be considered limiting of its scope. In the drawings, for clarity, the same or corresponding parts will be designated by the same or similar reference numerals.
Fig. 1 shows a network topology diagram of a global networking observation satellite constellation in an embodiment of the present application.
FIG. 2 shows a flow chart for solving an inter-satellite network optimization problem based on the Dijkstra method of load weighting in one embodiment of the application.
Fig. 3 shows a schematic diagram of a propagation delay profile of an inter-satellite network according to an embodiment of the application.
Fig. 4 shows a comparison of inter-satellite link loads with the prior art in one embodiment of the application.
Fig. 5 shows a schematic diagram of calculating a maximum inter-satellite transmission distance of an inter-satellite network according to an embodiment of the present application.
Detailed Description
It should be noted that the components in the figures may be shown exaggerated for illustrative purposes and are not necessarily to scale. In the drawings, identical or functionally identical components are provided with the same reference numerals.
In the present application, unless specifically indicated otherwise, "disposed on …", "disposed over …" and "disposed over …" do not preclude the presence of an intermediate therebetween. Furthermore, "disposed on or above" … merely indicates the relative positional relationship between the two components, but may also be converted to "disposed under or below" …, and vice versa, under certain circumstances, such as after reversing the product direction.
In the present application, the embodiments are merely intended to illustrate the scheme of the present application, and should not be construed as limiting.
In the present application, the adjectives "a" and "an" do not exclude a scenario of a plurality of elements, unless specifically indicated.
It should also be noted herein that in embodiments of the present application, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that the components or assemblies may be added as needed for a particular scenario under the teachings of the present application. In addition, features of different embodiments of the application may be combined with each other, unless otherwise specified. For example, a feature of the second embodiment may be substituted for a corresponding feature of the first embodiment, or may have the same or similar function, and the resulting embodiment may fall within the scope of disclosure or description of the application.
It should also be noted herein that, within the scope of the present application, the terms "identical", "equal" and the like do not mean that the two values are absolutely equal, but rather allow for some reasonable error, that is, the terms also encompass "substantially identical", "substantially equal". By analogy, in the present application, the term "perpendicular", "parallel" and the like in the table direction also covers the meaning of "substantially perpendicular", "substantially parallel".
The numbers of the steps of the respective methods of the present application are not limited to the order of execution of the steps of the methods. The method steps may be performed in a different order unless otherwise indicated.
The application is further elucidated below in connection with the embodiments with reference to the drawings.
Firstly, mathematical modeling is needed to be carried out on a global networking observation satellite constellation network. Taking the first constellation as an example, as shown in fig. 1, the first constellation comprises four fixed track surfaces, the track surfaces have the same inclination angle, the right-hand and left-hand and right-hand intersections are uniformly distributed on the equator, the track heights are the same, the track periods are consistent, and satellites in the track surfaces are uniformly distributed. And 8 satellites are uniformly distributed on each track surface, and each satellite is numbered respectively, wherein the track surface 1 number comprises sat11-sat18, the track surface 2 number is from sat21-sat28, the track surface 3 number is from sat31-sat38 and the track surface 4 number is from sat41-sat48.
The connection relationship of the constellation network may be expressed as g= { S, E }, where s= { sat 1 ，sat 2 ，...，sat 32 The satellite node, e= { sat }, is represented by i ，sat j And represents edges between adjacent satellite nodes. S= { sat 1 ，sat 2 ，...，sat 32 In } { sat 1 ，sat 2 ，...，sat 8 Satellite sat11-sat18, { sat, corresponding to orbital plane 1 9 ，sat 10 ，...，sat 16 Satellite sat21-sat28 corresponding to orbital plane 2, { sat 17 ，sat 18 ，...，sat 24 Satellite sat31-sat38, { sat, corresponding to orbital plane 3 25 ，sat 26 ，...，sat 32 Satellite sat41-sa48 corresponding to the raceway surface 4.
The connectivity of inter-satellite links between satellites may be expressed as satellite nodes sat i And sat j Inter-satellite link connectivity matrix a= { a ij }。
Can be according to satellite node sat i And sat j Inter-satellite transmission distance L between ij Determining satellite node sat i And sat j Inter-satellite link connectivity relationship a between ij Expressed by the following formula:
wherein L is min ，L max Representing the minimum inter-satellite transmission distance and the maximum inter-satellite transmission distance between satellite nodes of the constellation network, respectively.
Minimum inter-satellite transmission distance L min The satellite antenna pointing angle of the satellite can be set according to the observation capability of the satellite.
Maximum inter-satellite transmission distance L max The calculation of (2) can be as shown in fig. 5, wherein the two satellites farthest from each other in the constellation network are set to be the same distance from the earth center, and the altitude of the satellites is denoted as H s The radius of the earth is denoted as R e The maximum communication geocentric angle between two most-concentrated satellites is denoted as θ ISL And the maximum inter-satellite transmission distance L max The calculation of (2) can be expressed as follows:
L max ＝2×(H s +R e )×sin(θ ISL /2)
by determining the inter-satellite link connectivity between satellites, the inter-satellite link connectivity matrix a can be expressed as:
the information transmission path between satellites includes the edges through which the information needs to pass from the source satellite node to the destination satellite node, expressed as:
Path(o，d)＝{e 1 ，e 2 ，...，e T }
e T representing the T-th edge traversed from the source satellite node to the destination satellite node.
May include a function through a pathDetermining whether an edge is included in a path, the path including function may be expressed as:
if the link is in the transmission path, thenThe value is 1.
In order to solve the problem of link congestion in the prior art when information is transmitted, the method of the application provides that an information transmission path is optimized in the information transmission process, the information with high priority adopts link transmission with lower time delay, and under the condition that the maximum time delay requirement is not exceeded, the link traffic with high load is dispersed, and the link transmission with higher time delay is adopted with low priority, so that the traffic balance is realized.
The optimization objective of the information transmission path may be expressed as an optimization objective function expressed as:
first objective function:
wherein f (delay) represents a delay optimization objective function, w s Representing the propagation delay weight of the s-th piece of information,the kth side selected by the transmission path representing the s-th information and C represent the speed of light, and the optimization objective formula of the first objective function is that the time delay is minimum.
And a second objective function:
wherein f (debt) represents a flow optimization objective function, w debit s Representing the transmission flow weight of the s-th information, and the bit s Representing the transmission traffic of the s-th piece of information,representation e k A decision function of whether or not on the transmission path is confirmed. The objective of the second objective function optimization is to determine link e k Minimum of maximum load on the load cell.
As shown in fig. 2, the optimization process of the information transmission path can be solved by the Dijkstra method based on load weighting, and the solving process includes the following steps:
step one, calculating the communication relation among nodes according to the inter-satellite transmission distance among satellites of the global networking observation satellite constellation, and forming a communication matrix. And synchronously sequencing all the information to be transmitted according to the task and the data type. The sum is calculated according to the initial data quantity of each type of information, and the maximum load of a single link, such as 2/3 bandwidth or 1/2 bandwidth, is formulated.
And step two, calculating a weighting matrix of the transmission path, and calculating the transmission delay of the weighting matrix as the weight of each link according to the length of the transmission path of each link in the first calculation.
And thirdly, carrying out Dijkstra shortest path calculation on the information with the highest priority to generate the shortest transmission path.
And step four, calculating the load of each link on the transmission path.
And fifthly, calculating whether a link exceeds the maximum load according to the expected load, if so, excluding the link exceeding the maximum load, and carrying out Dijkstra calculation again. If the load is not exceeded, a new weighting value is generated according to the accumulated load of each link, and the transmission path weighting matrix is updated.
And step six, sequentially repeating the step two to the step five according to the priority level until the calculation is finished.
The method of the application starts to initialize the load target for the transmission load synthesis at the beginning of the information transmission. And then, carrying out priority ordering on the transmission information, starting transmission from a high-priority target, and solving the path with the lowest time delay through a Dijktra method. After the path is determined, the load generated by the link with priority transmission is calculated and added into the transmission path as weight, so that the load is taken as cost to be put into the information path selection with low priority, and the maximum complex value of a single path is constrained by taking the expected load as constraint.
In one embodiment of the method of the present application, simulation analysis is performed to determine the type, length and priority of the input information, as shown in table 1:
TABLE 1
Where the length of the information is related to the number of satellites and the number of targets, the number needs to be multiplied during simulation. Among the information priorities, the higher the numerical value is, the higher the priority of the information type is. The information sending terminals of the whole network are randomly distributed, the information receiving terminals are set to simulate nodes in five hops of the shortest path, and the number of targets is set to 55 for simulation analysis. The maximum transmission rate of the link is 10Mbps.
The transmission delay of the information is solved by the method, and the solving result is shown in figure 3. In fig. 3, the coordinates of the x-axis and the y-axis represent the numbers of satellites, and the coordinates of the z-axis represent the minimum transmission delay from the satellite numbered x to the satellite numbered y after the optimization by the method of the present application at time T0. The diagonal line in the middle of the figure represents the time delay from the satellite to itself, so the values are all zero. Since it is assumed that all links are bi-directional, the final profile should be perfectly symmetrical without regard to load optimization. There is some difference in the distribution of the delays due to the load being considered. After the overall delay is optimized, the delay is optimized for about 30ms compared with the LHP method. The point-to-point transmission delay of the constellation network is about 100ms, and the high-timeliness transmission of important information is ensured.
As shown in fig. 4, the load of the present method is compared to the LHP method load. The upper line represents the maximum load on a single link over a topological cycle period based on the LHP method, and it can be seen that the LHP method based transmission can therefore produce excessive load on a single link under some specific transmission scenarios, such as time T0, and time 600s in the figure. Since the maximum transmission rate of the link is 10Mbps, congestion of part of the link is caused over a plurality of time slices. The lower line is based on the method of the application, and the balance of the link is realized by weighting the transmission matrix through the load. It can be seen that the comparison of the maximum transmission load of the individual links with the LHP policy achieves an overall drop first, with no individual link maximum load at any time being greater than the maximum load at the LHP during one cycle of the overall simulation. And meanwhile, the variation of the maximum load of a single link is stable in the whole period. Therefore, the method can effectively lead the flow on a single link to realize load balancing through multipath transmission, avoid link congestion in a network and obtain a better link balancing effect.
While various embodiments of the present application have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to those skilled in the relevant art that various combinations, modifications, and variations can be made therein without departing from the spirit and scope of the application. Thus, the breadth and scope of the present application as disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (7)
1. An inter-satellite network optimization method for observing satellite constellations in a global network is characterized by comprising the following steps:
constructing an inter-satellite network, wherein the inter-satellite network is used for representing inter-satellite information transmission of a global networking observation satellite constellation;
constructing an inter-satellite network optimization problem for optimizing inter-satellite network delay and optimizing inter-satellite network traffic load, wherein the delay optimization for the inter-satellite network is constructed as a first optimization problem expressed as:
wherein f (delay) represents a delay optimization objective function, w s Representing the transmission delay weight of the s-th information, e Paths(o，d) k Transmission path selection representing the s-th informationAnd C represents the speed of light; and
the traffic load optimization for the inter-satellite network is constructed as a second optimization problem expressed as:
wherein f (debt) represents a flow optimization objective function, w debit s Representing the transmission flow weight of the s-th information, and the bit s Representing the transmission traffic of the s-th piece of information,representation e k Determining whether a judgment function is on the transmission path; and
the Dijkstra method solves the inter-satellite network optimization problem based on load weighting, and comprises the following steps:
determining an inter-satellite link communicable matrix of an inter-satellite network;
the priority ordering is carried out on the information to be transmitted;
determining a maximum load of the inter-satellite link; and
the transmission path of the information is calculated based on the Dijkstra method, and the method comprises the following steps:
calculating a transmission path weighting matrix, wherein the transmission path weighting matrix comprises Dijkstra weights of inter-satellite links, and when in first calculation, the transmission delay of each inter-satellite link is calculated as the Dijkstra weight of each inter-satellite link according to the transmission path length of each inter-satellite link;
performing Dijkstra shortest path calculation on the information with the highest priority to generate a Dijkstra shortest transmission path;
calculating the load of each inter-satellite link on the Dijkstra shortest transmission path;
calculating whether an inter-satellite link exceeds the maximum load according to the maximum load, eliminating the inter-satellite link exceeding the maximum load when the inter-satellite link exists, and carrying out Dijkstra calculation again; when the load does not exist, generating a new Dijkstra weight according to the accumulated load of each inter-satellite link, and updating a transmission path weighting matrix; and
repeating the step of calculating the transmission path of the information based on the Dijkstra method according to the priority from high to low.
2. The inter-satellite network optimization method for a global networking observation satellite constellation according to claim 1, wherein: the construction of the inter-satellite network comprises the following steps:
representing the connection relation of the inter-satellite network as a side e between satellite nodes sat;
representing connectivity of inter-satellite links of an inter-satellite network as an inter-satellite link connectivity matrix a= { a ij (wherein a) ij Representing satellite node sat i And sat j Inter-satellite link connectivity between the two; and
representing the information transmission path between satellites as the information from the source satellite node sat o To the destination satellite node sat d The passing edge Path (o, d) is represented by the following formula:
Path(o，d)＝{e 1 ，e 2 ，...，e T }
wherein e T Representing slave source satellite node sat o T is transmitted to a target satellite node d Passing by the T-th edge.
3. The inter-satellite network optimization method for a global networking observation satellite constellation according to claim 2, wherein: according to satellite node sat i And sat j Inter-satellite transmission distance L between ij Determining the satellite node sat i And sat j Inter-satellite link connectivity relationship a between ij Expressed by the following formula:
wherein L is min ，L max Representing between satellite nodes of an inter-satellite network, respectivelyMinimum inter-satellite transmission distance and maximum inter-satellite transmission distance.
4. An inter-satellite network optimization method for a global networking observation satellite constellation according to claim 3, wherein:
minimum inter-satellite transmission distance L min Determining according to the observation capability of the satellite; and
maximum inter-satellite transmission distance L max Calculated according to the following formula:
L max ＝2×(H s +R e )×sin(θ ISL /2)
wherein H is s Representing the altitude of the satellite, R e Represents the radius, θ, of the earth ISL The maximum communication geocentric angle is denoted as θ ISL 。
5. An inter-satellite network optimization method for a global networking observation satellite constellation according to claim 3, wherein: the pass path includes a functionDetermining whether the edge is included in the path, expressed as:
6. the inter-satellite network optimization method for a global networking observation satellite constellation according to claim 5, wherein: and sorting the priority of the information to be transmitted according to the task type and the data type of the information to be transmitted.
7. The inter-satellite network optimization method for a global networking observation satellite constellation according to claim 5, wherein: the sum of each type of information to be transmitted is calculated from the data amount of the information to be transmitted, and the maximum load of the inter-satellite link is determined, the maximum load including a 2/3 bandwidth or a 1/2 bandwidth.
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