CN113329409B - Routing method and device for avoiding high risk area in low-orbit satellite network - Google Patents
Routing method and device for avoiding high risk area in low-orbit satellite network Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/10—Integrity
- H04W12/102—Route integrity, e.g. using trusted paths
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- H04B7/00—Radio transmission systems, i.e. using radiation field
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- H04B7/18578—Satellite systems for providing broadband data service to individual earth stations
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- H04W40/00—Communication routing or communication path finding
- H04W40/02—Communication route or path selection, e.g. power-based or shortest path routing
- H04W40/22—Communication route or path selection, e.g. power-based or shortest path routing using selective relaying for reaching a BTS [Base Transceiver Station] or an access point
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Abstract
The invention provides a routing method and a device for avoiding a high risk area in a low earth orbit satellite network, which comprises the following steps: determining an overhead low-orbit satellite node corresponding to a ground high-risk area as a dangerous node; determining a nearest available orbital plane for forwarding of data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in a low earth orbit satellite; and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet. The method and the device provided by the invention realize that the transmission path of the data packet in the low-orbit satellite network avoids the overhead of a high-risk area.
Description
Technical Field
The invention relates to the technical field of low-orbit satellite networks, in particular to a routing method and a routing device for avoiding high-risk areas in a low-orbit satellite network.
Background
Compared with the traditional ground internet, a Low Earth Orbit (LEO) satellite network has the advantages of wide coverage range, low delay and the like, and gradually becomes an increasingly important information infrastructure. Many companies have proposed plans to build the satellite internet and have delivered multiple satellites. For example, the company SpaceX proposed a star chain plan, which to date has transmitted 1085 satellites, planning a total transmission of approximately 12,000 satellites. Furthermore, amazon and Telesat plans to launch 3,236 and over 1,600 satellites, respectively. Meanwhile, research work related to LEO satellite networks is also increasingly paid attention. LEO satellite networks have gained widespread attention, whether in academic or commercial areas.
Meanwhile, security issues of LEO satellite networks have also attracted great attention. On the one hand, although the reduction of the satellite transmission cost accelerates the pace of the construction of large low-orbit satellite networks, the reduction of the cost will inevitably reduce the capability of the satellite to resist security threats. LEO satellite networks, on the other hand, can provide global network coverage, in contrast to traditional terrestrial network infrastructure in the home region. When a satellite is operating outside its home airspace, the security management of the satellite is subject to significant restrictions. Particularly when the satellite is empty in a high risk area, the satellite is exposed to a great security risk, such as eavesdropping, hijacking or even physical damage, thereby exposing the user data to a greater security risk. Therefore, it is crucial for a LEO satellite network to design a scheme to enable user packets to bypass high risk areas, thereby avoiding attacks.
Therefore, how to avoid the huge security risk of eavesdropping faced by the existing low-orbit satellite when the satellite is in the high-risk area is still a problem to be solved by those skilled in the art.
Disclosure of Invention
The invention provides a routing method and a device for avoiding a high risk area in a low-orbit satellite network, which are used for solving the problem of huge intercepted security risk of a satellite when the existing low-orbit satellite is in the high risk area, wherein a security boundary area, namely a nearest available orbit plane, is pushed out from a dangerous satellite node by calculating the dangerous satellite node in the low-orbit satellite network above the high risk area at the current moment, then a routing rule of a data packet at the current moment is determined based on the nearest available orbit plane, each hop in the subsequent execution of the routing rule updates the routing rule and determines a low-orbit satellite of a next hop target node according to the updated routing rule, so that the forwarding of the data packet can avoid the high risk area at any moment, and potential dangerous behaviors to transmission data above the high risk area are avoided.
The invention provides a routing method for avoiding a high risk area in a low earth orbit satellite network, which comprises the following steps:
determining an overhead low-orbit satellite node corresponding to a ground high-risk area as a dangerous node;
determining a nearest available orbital plane for inter-node packet forwarding based on a minimum distance between the dangerous node and a high risk area in a low earth orbit satellite;
and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet.
According to the routing method for avoiding the high risk area in the low earth orbit satellite network provided by the invention, the determination that the overhead low earth orbit satellite node corresponding to the ground high risk area is a dangerous node specifically comprises the following steps:
determining a ground projection track of each low-orbit satellite based on the angular velocity and the inclination of the orbital plane of the motion of the low-orbit satellite;
determining a low-orbit satellite node which is not more than the ground coverage radius of a corresponding low-orbit satellite in geographic distance with the ground high-risk area based on the ground projection track and the absolute coordinates of the boundary point of the ground high-risk area;
and determining the set of all the low-orbit satellite nodes as dangerous nodes.
According to the routing method for avoiding the high risk area in the low earth orbit satellite network provided by the invention, the ground projection track of each low earth orbit satellite is determined based on the angular velocity and the inclination of the orbit plane of the low earth orbit satellite motion, and the method specifically comprises the following steps:
calculating the space coordinate L of any low-orbit satellite i at the moment t by the following formula i (t)：
Wherein the content of the first and second substances,
is a unit vector of a horizontal axis in a space three-dimensional coordinate system,
is a unit vector of a vertical axis in a three-dimensional coordinate system of a space,
as vertical axes in a three-dimensional coordinate systemUnit vector, w is the angular velocity of the low orbit satellite, psi i Is the rising point right ascension, w of any one of the low earth orbit satellites i i Is the angular velocity, θ, of said any low-earth satellite i i Inclination of the orbital plane, R, of said any low-orbit satellite i p The orbit radius of any low-orbit satellite i;
determining the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t based on the space coordinate of the low-orbit satellite i at the moment t i ＝(lat i ,lon i )；
Correspondingly, the determining, based on the ground projection trajectory and absolute coordinates of the boundary point of the ground high-risk area, a low-orbit satellite node whose geographic distance from the ground high-risk area does not exceed the ground coverage radius of the corresponding low-orbit satellite specifically includes:
calculating the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t by the following formula i ＝(lat i ,lon i ) With high risk area A f Geographic distance D (S) i ，A f )：
Wherein R is e For the radius of the earth, hav () is the Haverine function, (lat) a ,lon a ) Is A f Longitude and latitude coordinates of any one of the locations;
constructing a constraint condition for determining that the geographic distance to the ground high-risk area does not exceed the corresponding ground coverage radius of the low-orbit satellite by the following formula:
D(S i ,A f )≤R c
wherein S is i ＝(lat i ,lon i )，lat i And lon i Longitude and latitude, R, respectively, of the terrestrial projection of any low-earth satellite i at time t c The ground coverage radius of any low earth orbit satellite i;
the determining that the set of all the low-earth satellite nodes is a dangerous node specifically includes:
the Risk node Risk Sats is constructed by the following formula:
Risk Sats:{i|D(S i ,A f )≤R c }
wherein, risk Sats includes all D (S) satisfying i ,A f )≤R c Low earth orbit satellite i.
According to the routing method for avoiding the high risk area in the low earth orbit satellite network provided by the invention, the method for determining the nearest available orbit plane for forwarding the data packet between the nodes based on the minimum distance between the dangerous nodes and the high risk area in the low earth orbit satellite network specifically comprises the following steps:
determining a nearest available orbital plane on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
wherein the track plane set p constructed by the nearest available track plane satisfies the following condition:
wherein, P' al Is the left boundary, P 'in the forwarding plane of the set of track planes P' ar Is the right boundary, M ', of the forwarding plane of the track plane set p' at Is the upper boundary, M ', of the motion plane of the set of orbital planes p' ab γ is the minimum distance to the high risk region in all low earth satellites, for the lower boundary of the plane of motion for the set of orbital planes p.
According to the routing method for avoiding the high risk area in the low earth orbit satellite network provided by the invention, the construction of the nearest available orbit plane specifically comprises the following steps:
determining an initial boundary on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
if the initial boundary meets the condition that the transmission delay of the first hop data packet is less than the time spent by any low-orbit satellite node in the boundary entering the high risk area, the initial boundary is the nearest available orbit plane at the current moment, otherwise, the nearest outer boundary of the initial boundary is determined to be the nearest available orbit plane at the current moment.
According to the routing method for avoiding the high risk area in the low earth orbit satellite network provided by the invention, the updating of the route at each hop of the route for forwarding the data packet specifically comprises the following steps:
and updating the latest available orbital plane at the current moment after each hop of the data packet forwarding by executing the routing is completed, and updating the routing based on the updating result to determine the next hop of the target low-earth orbit satellite node.
According to the routing method for avoiding the high risk area in the low earth orbit satellite network provided by the invention, the updating of the nearest available orbit plane at the current moment and the updating of the routing based on the updating result to determine the next hop target low earth orbit satellite node specifically comprise:
if the transmission delay of the next hop data packet at the current time is smaller than the overhead time of any low-orbit satellite node in the boundary entering the high risk area, maintaining the routing rule; if not, then,
and updating the nearest available orbit plane with the nearest outer boundary of the nearest available orbit plane at the current moment and updating the route based on the updating result to determine the next hop target low orbit satellite node.
The invention also provides a routing device for avoiding the high risk area in the low orbit satellite network, which comprises:
the determining unit is used for determining overhead low-orbit satellite nodes corresponding to the ground high-risk area as dangerous nodes;
the plane unit is used for determining a nearest available orbit plane for forwarding data packets between nodes based on the minimum distance between the dangerous nodes and the high risk area in the low-orbit satellite;
and the routing unit is used for determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane and updating the route at each hop for performing the data packet forwarding on the route.
The present invention also provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method for avoiding high risk areas in a low earth orbit satellite network as described in any one of the above.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a routing method avoiding high risk areas in a low earth orbit satellite network as described in any of the above.
According to the routing method and the routing device for avoiding the high risk area in the low earth orbit satellite network, the overhead low earth orbit satellite node corresponding to the ground high risk area is determined as a dangerous node; determining a nearest available orbital plane for forwarding of data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in a low earth orbit satellite; and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet. Calculating dangerous satellite nodes in a low-orbit satellite network overhead in a high-risk area at the current moment, pushing out a safety boundary area, namely a nearest available orbit plane, from the dangerous satellite nodes, then determining a routing rule of a data packet at the current moment based on the nearest available orbit plane, updating the routing rule at each hop when the routing rule is executed subsequently, and determining a low-orbit satellite of a next-hop target node according to the updated routing rule, wherein the updating of the routing rule also takes the condition that whether the current routing rule can ensure that any low-orbit satellite node in the nearest available orbit plane cannot enter the overhead of the high-risk area in the transmission process of the data packet of the next hop as a consideration condition, so that the forwarding of the data packet can avoid the overhead of the high-risk area at any moment, and avoid the potential dangerous behavior of transmitting data above the high-risk area. Therefore, the method, the device and the electronic equipment provided by the invention realize that the transmission path of the data packet in the low-orbit satellite network avoids the overhead of the high-risk area.
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In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a routing method for avoiding a high risk area in a low earth orbit satellite network according to the present invention;
FIG. 2 is a schematic routing diagram of avoiding high risk areas in a low earth orbit satellite network according to the present invention;
FIG. 3 is a schematic diagram of the calculation formulas for the periodicity and predictability of satellite motion provided by the present invention;
FIG. 4 is a schematic flow chart of a route decision algorithm provided by the present invention;
fig. 5 is a schematic structural diagram of a routing device avoiding a high risk area in a low earth orbit satellite network according to the present invention;
FIG. 6 is a graph showing the cumulative hop count in certain countries of the middle east as a high risk area;
FIG. 7 is a graph illustrating the cumulative time spent in certain countries of the middle east as high risk areas according to the present invention;
FIG. 8 is a diagram of a satellite as a relay node when the sky changes with time in some countries of the middle east as a high risk area according to the present invention;
fig. 9 is a schematic physical structure diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 problem that various forms of information and knowledge in the current industry field cannot be considered due to single knowledge source of the existing question-answering system generally exists. The following describes a routing method for avoiding high risk areas in a low earth orbit satellite network according to the present invention with reference to fig. 1 to 4. Fig. 1 is a schematic flow chart of a routing method for avoiding a high risk area in a low earth orbit satellite network, as shown in fig. 1, the method includes:
and step 110, determining the overhead low-orbit satellite node corresponding to the ground high-risk area as a dangerous node.
Specifically, the main execution body of the routing method for avoiding the high risk area in the low earth orbit satellite network provided by the present invention is a routing device for avoiding the high risk area in the low earth orbit satellite network, and when the device executes the formulation of the routing rule, firstly, the high risk area on the ground is determined, and the high risk area can be flexibly customized by a user, for example, the corresponding high risk area on the ground is determined by a group of boundary points provided by the user, and once the high risk area on the ground is determined, the data packet forwarded in the low earth orbit satellite network will not take the low earth orbit satellite above the high risk area as the forwarding node in the routing path of the data packet. Due to the operation periodicity and predictability of the low-orbit satellites in the constellation, the space positions of the satellites can be calculated in real time, and then footprints of the satellites on the ground can be calculated based on the space positions, so that the footprint is determined to pass through or the earth orbit satellites which are within a preset range from the bottom high-risk area are taken as dangerous nodes.
And step 120, determining the nearest available orbit plane for forwarding the data packet between the nodes based on the minimum distance between the dangerous nodes and the high risk area in the low orbit satellite.
Specifically, since the low-orbit satellite in the air is always in a motion state, the dangerous node may change with the displacement change of the low-orbit satellite network relative to the space above the high-risk region, and therefore, the dangerous node needs to be updated in real time, and the motion speed of the satellite is much smaller than the propagation speed of the electromagnetic wave between the forwarding nodes of the adjacent low-orbit satellite, so that the time for the satellite to move into the next grid in the orbit logical plane is usually smaller than the time for completing packet forwarding between the nodes of the low-orbit satellite, but it is not excluded that one or more low-orbit satellites in the nearest available orbit plane determined only by the dangerous node are already very close to the space above the high-risk region, and the low-orbit satellite nodes not yet forwarded enter the high-risk region during forwarding of the packet around the nearest available orbit plane, so that the nearest available orbit plane is nearest, but the low-orbit satellite enters the space above the high-risk region during forwarding of the packet, so that the nearest available orbit plane is not available. Fig. 2 is a schematic diagram of a route avoiding a high risk area in a low earth orbit satellite network provided by the present invention, as shown in fig. 2, a logical orbit planar grid in the low earth orbit satellite network is arranged above the low earth orbit planar grid, each node represents a low earth orbit satellite, an area corresponding to the ground is arranged below the low earth orbit planar grid, a black irregular area in the area below the low earth orbit planar grid represents a high risk area, src 'and Dst' marked above represent ground projections of a starting low earth orbit satellite node Src and a terminating low earth orbit satellite node Dst of a data packet to be forwarded in an overhead low earth orbit satellite network, that is, src and Dst represent a starting point and an ending point of the route in the satellite network, respectively; an open-air satellite node is a high-risk overhead node, i.e., an unsecured node that is vulnerable to potential attacks. As shown in fig. 2, according to the periodicity and predictability of the operation of the satellite, a dangerous node above the high risk, that is, a satellite node identified by a drawing of an empty satellite in fig. 2, can be calculated, based on the determined dangerous node, a nearest available orbit plane in the low orbit satellite network, that is, a nearest boundary of an overhead area corresponding to the high risk area in the low orbit satellite network, can be directly determined, and a low orbit satellite node connected by a thick solid line in fig. 2 is an initial nearest available orbit plane determined based on the dangerous node, but it can be seen that a next-hop low orbit satellite node after a Src low orbit satellite node traveling in the direction of the thick solid line is already very close to the overhead area of the high risk area, and if a data packet is transmitted to a next-hop low orbit satellite node after the Src low orbit satellite node traveling in the direction of the thick solid line, the next-hop low-orbit satellite node has entered the overhead area of the high-risk area, and then the initial nearest available orbit plane determined at the current time is not available, that is, the nearest available orbit plane framed by the thick solid line in fig. 2 is not accurate, and it is also necessary to use the minimum distance between the low-orbit satellite and the high-risk area to determine, that is, the distance from the next-hop low-orbit satellite node in the nearest available orbit plane to the overhead area of the high-risk area is less than the transmission time of the next-hop data packet, so that the time from the current low-orbit satellite node to the next-hop low-orbit satellite in the nearest available orbit plane is set to be less than the minimum distance between the low-orbit satellite and the high-risk area, that is, the minimum margin of the distance from the node to the overhead area of the high-risk area is set to be the logical plane motion cross-grid distance to be safest.
Specifically, a forwarding route of a data packet is determined on the basis of a latest available orbit plane determined at the current moment, when the routing rule is subsequently implemented, for example, after the data packet is transmitted to a next low-orbit satellite node, the routing rule needs to be updated again each time the next-hop low-orbit satellite node is determined, that is, considering whether the current routing rule is continuously executed and the next-hop low-orbit satellite node is not in a high-risk area, if the current routing rule is satisfied, the data packet is forwarded to a next target low-orbit satellite node specified by the original routing rule according to the original routing rule, if the current routing rule is not satisfied, the latest available orbit plane is expanded outward by one layer on the basis of the current latest available orbit plane, and a specific outward expansion method is to expand a m plane of the forwarding plane upward in a direction opposite to a moving direction of a low-orbit satellite network relative to the ground to obtain an updated latest available orbit plane, then the routing rule is determined again on the basis of the updated latest available orbit plane, and the next-hop low-orbit node is determined according to the new routing rule to continue forwarding of the data packet.
The invention provides a routing method for avoiding high risk areas in a low earth orbit satellite network, which comprises the steps of determining overhead low earth orbit satellite nodes corresponding to ground high risk areas as dangerous nodes; determining a nearest available orbital plane for forwarding of data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in a low earth orbit satellite; and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet. Calculating dangerous satellite nodes in a low-orbit satellite network overhead in a high-risk area at the current moment, pushing out a safety boundary area, namely a nearest available orbit plane, from the dangerous satellite nodes, then determining a routing rule of a data packet at the current moment based on the nearest available orbit plane, updating the routing rule at each hop when the routing rule is executed subsequently, and determining a low-orbit satellite of a next-hop target node according to the updated routing rule, wherein the updating of the routing rule also takes the condition that whether the current routing rule can ensure that any low-orbit satellite node in the nearest available orbit plane cannot enter the overhead of the high-risk area in the transmission process of the data packet of the next hop as a consideration condition, so that the forwarding of the data packet can avoid the overhead of the high-risk area at any moment, and avoid the potential dangerous behavior of transmitting data above the high-risk area. Therefore, the method provided by the invention realizes that the transmission path of the data packet in the low-orbit satellite network avoids the overhead of the high-risk area.
Based on the above embodiment, in the method, the determining that the overhead low-earth orbit satellite node corresponding to the ground high-risk area is a dangerous node specifically includes:
determining a ground projection track of each low-orbit satellite based on the angular velocity and the inclination of the orbital plane of the motion of the low-orbit satellite;
determining a low-orbit satellite node which is not more than the ground coverage radius of a corresponding low-orbit satellite in geographic distance with the ground high-risk area based on the ground projection track and the absolute coordinates of the boundary point of the ground high-risk area;
and determining the set of all the low-orbit satellite nodes as dangerous nodes.
Specifically, according to a boundary geographical coordinate set of a high-risk area determined by a user, a calculation method for identifying an overhead satellite of the high-risk area in a low-orbit satellite network comprises two steps:
1. due to the periodicity and predictability of the low-earth-orbit satellite motion, the real-time position of the satellite can be calculated, namely the motion real-time position of the satellite and the ground real-time footprint of the satellite can be calculated by corresponding ideal formulas. Since the motion of the satellite is periodic, the track of the motion of the satellite and the track of the ground coverage area of the satellite have predictability at the same time.
2. Calculating a satellite ground projection footprint and a geographical distance of a high risk area according to a great circle distance calculation Haverine formula, then determining a set of low orbit satellites meeting preset conditions as a dangerous node based on a constraint condition that the distance between a low orbit satellite ground projection track and a boundary point of the ground high risk area does not exceed the ground coverage radius of the corresponding low orbit satellite.
Based on the above embodiment, in the method, the determining the ground projection trajectory of each low-orbit satellite based on the angular velocity of the low-orbit satellite motion and the inclination of the orbital plane specifically includes:
calculating the space coordinate L of any low-orbit satellite i at the moment t by the following formula i (t)：
Wherein the content of the first and second substances,
is a unit vector of a horizontal axis in a space three-dimensional coordinate system,
is a unit vector of a vertical axis in a three-dimensional coordinate system of a space,
is a unit vector of a vertical axis in a three-dimensional coordinate system in space, and w is an angular velocity of the low-orbit satellite, psi i Is the rising point right ascension, w of any one of the low earth orbit satellites i i Is the angular velocity, θ, of said any low-earth satellite i i Inclination of the orbital plane, R, of said any low-orbit satellite i p The orbit radius of any low-orbit satellite i;
determining the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t based on the space coordinate of the low-orbit satellite i at the moment t i ＝(lat i ,lon i )；
Correspondingly, the determining, based on the ground projection trajectory and absolute coordinates of the boundary point of the ground high-risk area, a low-orbit satellite node whose geographic distance from the ground high-risk area does not exceed the ground coverage radius of the corresponding low-orbit satellite specifically includes:
calculating the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t by the following formula i ＝(lat i ,lon i ) With high risk area A f Geographic distance D (S) i ，A f )：
Wherein R is e For the radius of the earth, hav () is the Haverine function, (lat) a ,lon a ) Is A f Longitude and latitude coordinates of any one of the locations;
constructing a constraint condition for determining that the geographic distance to the ground high-risk area does not exceed the corresponding ground coverage radius of the low-orbit satellite by the following formula:
D(S i ,A f )≤R c
wherein S is i ＝(lat i ,lon i )，lat i And lon i Longitude and latitude, R, respectively, of the terrestrial projection of any low-earth satellite i at time t c The ground coverage radius of any low earth orbit satellite i;
the determining that the set of all the low-earth satellite nodes is a dangerous node specifically includes:
the Risk node Risk Sats is constructed by the following formula:
Risk Sats:{i|D(S i ,A f )≤R c }
wherein, risk Sats includes all the satisfying D (S) i ,A f )≤R c Low railAnd (5) a satellite i.
Specifically, the present document proposes a calculation method for identifying an overhead satellite in a high risk area in a satellite network according to the geographical coordinate set of the polygonal area, which includes two steps:
(1) And calculating the real-time position of the satellite according to the periodicity and predictability of the motion of the satellite in the constellation. Fig. 2 is a schematic diagram of a calculation formula for the periodicity and predictability of the satellite motion provided by the present invention, and as shown in fig. 2, the motion of the satellite and its ground footprint can be obtained by modeling, that is,
calculating the space coordinate L of any low-orbit satellite i at the moment t by the following formula i (t)：
Wherein the content of the first and second substances,
is a unit vector of a horizontal axis in a space three-dimensional coordinate system,
is a unit vector of a vertical axis in a three-dimensional coordinate system of a space,
is a unit vector of a vertical axis in a three-dimensional coordinate system in space, and w is an angular velocity of the low-orbit satellite, psi i Is the ascending intersection of an ascension node (RAAN) of any one of the low orbit satellites i, w i Is the angular velocity, θ, of said any low-earth satellite i i The inclination of the orbit plane of any low-orbit satellite i is defined, and Rp is the orbit radius of any low-orbit satellite i;
since the motion of the satellite is periodic, the trajectory of its motion and the trajectory of its ground coverage are both predictable.
(2) The Haversine formula is calculated according to the great circle distance to calculate the satellite ground projection footprint and the geographical distance of the high risk area, that is,
calculating the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t by the following formula i ＝(lat i ,lon i ) With high risk area A f Geographic distance D (S) i ，A f )：
Wherein R is e For the radius of the earth, hav () is the Haverine function, (lat) a ,lon a ) Is A f Longitude and latitude coordinates of any one of the locations.
According to the distance formula, a high-Risk overhead satellite set, namely a dangerous node set Risk Sats can be calculated:
Risk Sats:{i|D(S i ,A f )≤R c }
wherein, risk Sats includes all D (S) satisfying i ,A f )≤R c Low earth orbit satellite i.
Based on the above embodiment, in the method, the determining a nearest available orbit plane for forwarding packets between nodes based on the minimum distance between the dangerous node and the high risk area in the low-earth orbit satellite specifically includes:
determining a nearest available orbital plane on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
wherein the track plane set p constructed by the nearest available track plane satisfies the following condition:
wherein, P' al Is the left boundary, P 'in the forwarding plane of the track plane set P' ar Is the right boundary, M ', of the forwarding plane of the track plane set p' at Is the upper boundary, M ', of the motion plane of the set of orbital planes p' ab Is the lower boundary of the plane of motion of the set of orbital planes p, and gamma is the lower boundary of all low-orbit satellitesMinimum distance from high risk area.
Specifically, to make the forwarded packet avoid the high risk area overhead area efficiently, but at the same time, to ensure that the detour route is as short as possible, a concept of a nearest available orbit plane is proposed, which is determined by a minimum distance between the dangerous node and the high risk area, because there may be a case where one or more low-orbit satellites in the nearest available orbit plane currently determined only by the dangerous node have been very close to the high risk area overhead area, and in the process of forwarding the packet around the nearest available orbit plane, the low-orbit satellite nodes that have not been forwarded have entered the high risk area, resulting in the nearest available orbit plane being nearest, but not being available due to the fact that the low-orbit satellites have entered the high risk area during the forwarding process of the packet, and therefore, it is also required that at least the current node forwards the packet to the next node, the next node does not have entered the high risk area overhead area of the high risk area. Wherein the track plane set p constructed by the nearest available track plane satisfies the following condition:
wherein, P' al Is the left boundary, P 'in the forwarding plane of the track plane set P' ar Is the right boundary, M ', of the forwarding plane of the track plane set p' at Is the upper boundary, M 'of the motion plane of the set of orbital planes p' ab γ is the minimum distance to the high risk region in all low earth satellites, for the lower boundary of the plane of motion for the set of orbital planes p.
R in the above formula c + gamma is as indicated at R c A margin distance value is added, the margin distance value is calculated based on the minimum distance between the low-orbit satellite and the high-risk area, namely the forwarding time of the default current data packet to the next-hop node is smaller than that between the low-orbit satellite and the high-windCondition of minimum distance between danger zones, provided that D (sat, A) f )>R c + γ holds true and the time consumption of any packet forwarded between nodes does not exceed the time consumption of the next hop node low orbit satellite entering the overhead area of the high risk area.
Based on the above embodiment, in the method, the constructing of the nearest available orbital plane specifically includes:
determining an initial boundary on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
if the initial boundary meets the condition that the transmission delay of the first hop data packet is less than the time spent by any low-orbit satellite node in the boundary entering the high risk area, the initial boundary is the nearest available orbit plane at the current moment, otherwise, the nearest outer boundary of the initial boundary is determined to be the nearest available orbit plane at the current moment.
Specifically, although the construction formula of the given nearest available track plane is such that the set p of track planes constructed by the nearest available track plane satisfies the following condition:
wherein, P' al Is the left boundary, P 'in the forwarding plane of the track plane set P' ar Is the right boundary, M ', of the forwarding plane of the track plane set p' at Is the upper boundary, M ', of the motion plane of the set of orbital planes p' ab γ is the minimum distance to the high risk region in all low earth satellites, for the lower boundary of the plane of motion for the set of orbital planes p.
Then, a faster method is provided to avoid complex calculation, and the nearest available orbital plane is determined simply and quickly directly on the basis of the determined dangerous node set Risk Sats, that is, the initial boundary corresponding to the high Risk area on the low orbit satellite logic plane is determined based on the dangerous nodes, and the initial boundary set p' satisfies the following conditions:
wherein, P' al The left boundary, P ', in the forwarding plane of the initial set of boundaries P' ar The right boundary, M ", of the forwarding plane for the initial boundary set p' at The upper boundary, M ', of the plane of motion of the initial set of boundaries p' ab The lower boundary of the plane of motion of the initial set of boundaries p'.
And determining a next hop node low-orbit satellite on the basis of the initial boundary, wherein if the initial boundary meets the condition that the transmission delay of a first hop data packet (namely the forwarding time of the data packet from a source node to the next hop node low-orbit satellite is determined) is less than the overhead time of any one low-orbit satellite node in the boundary entering the high risk area, the initial boundary is the nearest available orbit plane at the current moment, and otherwise, the nearest outer boundary of the initial boundary is determined to be the nearest available orbit plane at the current moment. As shown in fig. 2, the low-orbit satellite on the thick solid line marked with an arrow in the figure constitutes the initial boundary, but since the next low-orbit satellite node on the thick solid line path has entered the overhead area of the high-risk area when the data packet is forwarded from the Src low-orbit satellite node to the next low-orbit satellite node on the thick solid line path, it is necessary to determine the nearest outer boundary of the initial boundary as the nearest available orbital plane at the current time, and the specific operation is to extend a layer of forwarding plane upward in the direction opposite to the movement direction of the low-orbit satellite network with respect to the ground, that is, the initial interface set is represented as [ p [, [ p ], [ i+1 ,p i+5 ,m j+4 ,m j+1 ]Determining a nearest outer boundary [ p ] of said initial boundary i+1 ,p i+5 ,m j+5 ,m j+1 ]The nearest available orbital plane at the current moment, wherein the low-earth satellite network moves in the direction of m relative to the ground j+4 →m j+1 . On one hand, a high-risk boundary area can be quickly identified according to the nearest available orbit plane, a passable boundary orbit plane close to an overhead area of the high-risk area in a route is found, and on the other hand, a satellite node facing potential safety risk in the overhead area of the high-risk area can be quickly identified.
Based on the foregoing embodiment, in the method, the updating the route at each hop of executing the route to forward the packet specifically includes:
and updating the latest available orbital plane at the current moment after each hop of the data packet forwarding by executing the routing is completed, and updating the routing based on the updating result to determine the next hop of the target low-earth orbit satellite node.
Specifically, after a data packet completes a first hop at a Src low-orbit satellite node according to an initially established route and reaches a next low-orbit satellite node, a routing rule needs to be updated again, and a factor considered by the routing rule is only that whether the next-hop low-orbit satellite node enters an overhead area of a high-risk area when data forwarding of the next hop is performed again, so that a nearest available orbit plane needs to be re-determined at first, since the determination of the nearest available orbit plane is used for stopping the possibility that the next-hop low-orbit satellite has the overhead area of the high-risk area in a process of participating in data packet forwarding, a routing rule is determined again on the updated nearest available orbit plane, and finally forwarding of a low-orbit satellite network data packet from a current node to the next node is completed according to the updated routing rule.
Based on the above embodiment, in the method, the updating the latest available orbital plane at the current time and the updating the route based on the update result to determine the next-hop target low-orbit satellite node specifically includes:
if the transmission delay of the next hop data packet at the current time is less than the overhead time of any low-orbit satellite node in the boundary entering the high risk area, maintaining the routing rule; if not, then,
and updating the nearest available orbit plane with the nearest outer boundary of the nearest available orbit plane at the current moment and updating the route based on the updating result to determine the next-hop target low-orbit satellite node.
Specifically, in routing decision, the routing decision provided by the present invention always avoids high risk areas and selects the next hop to be closer to the destination. Once the overhead area of the high risk area is encountered, the routing decision mechanism will effectively bypass the area in the best direction. For example, the area enclosed by the dashed line in the low-earth satellite network in fig. 2 corresponds to the airspace of the black irregular high-risk area on the ground. As shown in fig. 2, the dashed arrowed line indicates that the path is the shortest path from Src to Dst. However, this is a risk path since the user packet will pass through the risk area above the black irregular high risk area on the ground, which may pose a risk to the user's packet. In contrast, the solid black lines are actual routing paths. Thus, in ground projection, the solid black line is the effective path from Src 'to Dst', rather than the dashed line. When the user data packet does not reach the high risk area boundary, the algorithm always selects a one-hop satellite node closer to the target orbital plane. However, once a packet encounters a high risk zone, it will be transported along the nearest available track plane of these high risk zones to ensure that it does not pass further overhead of the high risk zone. Fig. 4 is a schematic flow chart of a route decision algorithm provided by the present invention, and as shown in fig. 4, it indicates that whether the latest available track plane needs to be updated needs to be re-determined in the forwarding process of each hop, and that the latest available track plane needs to be used for making a route re-decision for completing forwarding of a packet of a next hop.
Compared with the conventional algorithm, although the routing around the high risk Area (ADSP) can be implemented based on the Shortest Path algorithm, so as to obtain the global Shortest Path, the algorithm is frequently operated due to the changing topology of the low-earth satellite network and the diversity of the user definition about the risk area, and a huge calculation overhead is required. Low orbit satellites have limited computing resources, which makes ADSP difficult to directly apply. Compared with the ADSP algorithm, the route decision method provided by the invention can realize high-efficiency route calculation at the cost of a small number of hops. In general, the routing decision method provided by the invention provides a more appropriate solution for a low-earth orbit satellite network with limited computing resources.
The routing device avoiding the high risk area in the low earth orbit satellite network provided by the present invention is described below, and the routing device avoiding the high risk area in the low earth orbit satellite network described below and the routing method avoiding the high risk area in the low earth orbit satellite network described above may be referred to each other.
Fig. 5 is a schematic structural diagram of a routing apparatus for avoiding a high risk area in a low earth orbit satellite network, as shown in fig. 5, the apparatus includes a determining unit 510, a plane unit 520 and a routing unit 530, wherein,
the determining unit 510 is configured to determine that an overhead low-earth orbit satellite node corresponding to a ground high-risk area is a dangerous node;
the plane unit 520 is configured to determine a nearest available orbital plane for forwarding the inter-node data packets based on a minimum distance between the dangerous node and a high risk area in the low earth orbit satellite;
the routing unit 530 is configured to determine a route for forwarding the packet between the nodes based on the nearest available orbital plane, and update the route at each hop of performing the packet forwarding on the route.
The routing device avoiding the high risk area in the low earth orbit satellite network provided by the invention determines the overhead low earth orbit satellite node corresponding to the ground high risk area as a dangerous node; determining a nearest available orbital plane for forwarding of data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in a low earth orbit satellite; and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet. Calculating dangerous satellite nodes in a low-orbit satellite network overhead in a high-risk area at the current moment, pushing out a safety boundary area, namely a nearest available orbit plane, from the dangerous satellite nodes, then determining a routing rule of a data packet at the current moment based on the nearest available orbit plane, updating the routing rule at each hop when the routing rule is executed subsequently, determining a low-orbit satellite of a target node of a next hop according to the updated routing rule, and updating the routing rule by taking the condition that whether the current routing rule can ensure that any low-orbit satellite node in the nearest available orbit plane cannot enter the overhead of the high-risk area in the transmission process of the data packet of the next hop as a consideration condition, so that forwarding of the data packet can avoid the overhead of the high-risk area at any moment and avoid potential dangerous behaviors of data transmission above the high-risk area. Therefore, the device provided by the invention realizes that the transmission path of the data packet in the low-orbit satellite network avoids the overhead of the high-risk area.
On the basis of the foregoing embodiment, in the apparatus, the determining unit is specifically configured to:
determining a ground projection track of each low-orbit satellite based on the angular velocity and the inclination of the orbital plane of the motion of the low-orbit satellite;
determining a low-orbit satellite node which is not more than the ground coverage radius of a corresponding low-orbit satellite in geographic distance with the ground high-risk area based on the ground projection track and the absolute coordinates of the boundary point of the ground high-risk area;
and determining the set of all the low-orbit satellite nodes as dangerous nodes.
On the basis of the above embodiment, in the apparatus, the determining the ground projection trajectory of each low-orbit satellite based on the angular velocity and the inclination of the orbital plane of the motion of the low-orbit satellite specifically includes:
calculating the space coordinate L of any low-orbit satellite i at the moment t by the following formula i (t)：
Wherein the content of the first and second substances,
is a unit vector of a horizontal axis in a space three-dimensional coordinate system,
is a unit vector of a vertical axis in a three-dimensional coordinate system of a space,
is a unit vector of a vertical axis in a three-dimensional coordinate system in space, and w isAngular velocity, psi, of said low earth orbit satellite i Is the rising point right ascension, w of any one of the low earth orbit satellites i i Is the angular velocity, θ, of said any low-earth satellite i i Inclination of the orbital plane, R, of said any low-orbit satellite i p The orbit radius of any low-orbit satellite i;
determining the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t based on the space coordinate of the low-orbit satellite i at the moment t i ＝(lat i ,lon i )；
Correspondingly, the determining, based on the ground projection trajectory and absolute coordinates of the boundary point of the ground high-risk area, a low-orbit satellite node whose geographic distance from the ground high-risk area does not exceed the ground coverage radius of the corresponding low-orbit satellite specifically includes:
calculating the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t by the following formula i ＝(lat i ,lon i ) With high risk area A f Geographic distance D (S) i ，A f )：
Wherein R is e For the radius of the earth, hav () is the Haverine function, (lat) a ,lon a ) Is A f Longitude and latitude coordinates of any one of the locations;
constructing a constraint condition for determining that the geographic distance to the ground high-risk area does not exceed the corresponding ground coverage radius of the low-orbit satellite by the following formula:
D(S i ,A f )≤R c
wherein S is i ＝(lat i ,lon i )，lat i And lon i Longitude and latitude, R, respectively, of the terrestrial projection of any low-earth satellite i at time t c The ground coverage radius of any low earth orbit satellite i;
the determining that the set of all the low-earth satellite nodes is a dangerous node specifically includes:
the Risk node Risk Sats is constructed by the following formula:
Risk Sats:{i|D(S i ,A f )≤R c }
wherein, risk Sats includes all D (S) satisfying i ,A f )≤R c Low earth orbit satellite i.
On the basis of the above embodiment, in the apparatus, the planar unit is specifically configured to:
determining a nearest available orbital plane on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
wherein the track plane set p constructed by the nearest available track plane satisfies the following condition:
wherein, P' al Is the left boundary, P 'in the forwarding plane of the track plane set P' ar Is the right boundary, M ', of the forwarding plane of the track plane set p' at Is the upper boundary, M ', of the motion plane of the set of orbital planes p' ab γ is the minimum distance to the high risk region in all low earth satellites, for the lower boundary of the plane of motion for the set of orbital planes p.
On the basis of the above embodiment, in the apparatus, the constructing of the nearest available orbital plane specifically includes:
determining an initial boundary on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
if the initial boundary meets the condition that the transmission delay of the first hop data packet is less than the time spent by any low-orbit satellite node in the boundary entering the high risk area, the initial boundary is the nearest available orbit plane at the current moment, otherwise, the nearest outer boundary of the initial boundary is determined to be the nearest available orbit plane at the current moment.
On the basis of the foregoing embodiment, in the apparatus, the routing unit is specifically configured to:
and updating the latest available orbital plane at the current moment after each hop of the data packet forwarding by executing the routing is completed, and updating the routing based on the updating result to determine the next hop of the target low-earth orbit satellite node.
On the basis of the foregoing embodiment, in the apparatus, the updating the latest available orbit plane at the current time and updating the route based on the update result to determine the next-hop target low-orbit satellite node specifically includes:
if the transmission delay of the next hop data packet at the current time is less than the overhead time of any low-orbit satellite node in the boundary entering the high risk area, maintaining the routing rule; if not, then,
and updating the nearest available orbit plane with the nearest outer boundary of the nearest available orbit plane at the current moment and updating the route based on the updating result to determine the next-hop target low-orbit satellite node.
And (3) experimental verification:
in the experimental verification of the invention, about 1000 pairs of satellites outside the high risk area are randomly selected as a source and a destination, and some countries in the middle east are used as high risk areas as objects to verify the effectiveness of the routing algorithm provided by the invention. Furthermore, to verify the performance of the algorithm presented herein, dijkstra's algorithm was used as a standard to compare the performance of the algorithm to the number of routing hops.
The invention proposed herein was experimentally validated by selecting the highest risk areas in certain countries of the middle east, respectively. Fig. 6 is a hop count accumulation distribution diagram of high risk areas in some middle east countries provided by the present invention, as shown in fig. 6, it can be seen that the algorithm proposed herein realizes a smaller hop count difference from the upper bound of Dijkstra algorithm, and effectively avoids the high risk areas.
Secondly, fig. 7 is a cumulative distribution graph of time spent by some middle east countries as high risk areas, as shown in fig. 7, time cost calculated by the algorithm is lower than that of Dijkstra algorithm, performance of the algorithm is improved, and the method is more suitable for satellite network scenes with limited performance resources and difficult maintenance.
Finally, fig. 8 is a diagram of a relay node of a satellite that changes with time in the sky when some countries in the middle east are used as high risk areas, as shown in fig. 8, when some countries in the middle east are selected as high risk areas, the upper sky satellite is selected as an object, and the satellite is not selected as a routing relay, as shown by the solid dots; once the satellite moves out of the high risk area, the satellite becomes a re-routing relay, as shown by the solid square dots, which are newly moved into the satellite.
In conclusion, the algorithm effectively enables the data packets in the satellite network to realize a routing mode for bypassing the high risk area. In addition, the algorithm can realize a better risk region bypassing algorithm at the cost of a smaller hop count with lower calculation complexity, so that the algorithm is more suitable for a satellite network with limited calculation resources, and a feasible solution is provided for the routing of the scene in the low-orbit satellite network.
Fig. 9 is a schematic physical structure diagram of an electronic device provided in the present invention, and as shown in fig. 9, the electronic device may include: a processor (processor) 910, a communication Interface (Communications Interface) 920, a memory (memory) 930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. Processor 910 may invoke logic instructions in memory 930 to perform a routing method in a low-earth satellite network that avoids high risk areas, the method comprising: determining an overhead low-orbit satellite node corresponding to a ground high-risk area as a dangerous node; determining a nearest available orbital plane for forwarding of data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in a low earth orbit satellite; determining a route for packet forwarding between the nodes based on the nearest available orbital plane, and updating the route at each hop at which the route is executed for packet forwarding.
Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a routing method for avoiding high risk areas in a low earth orbit satellite network provided by the above methods, the method comprising: determining an overhead low-orbit satellite node corresponding to a ground high-risk area as a dangerous node; determining a nearest available orbital plane for forwarding of data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in a low earth orbit satellite; and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor, implements a routing method for avoiding high risk areas in a low-earth orbit satellite network provided by the above methods, the method comprising: determining an overhead low-orbit satellite node corresponding to a ground high-risk area as a dangerous node; determining a nearest available orbital plane for forwarding of data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in a low earth orbit satellite; and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet.
The above-described server embodiments are only illustrative, and the units described as separate components may or may not be physically separate, and components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A routing method for avoiding high risk areas in a low earth orbit satellite network is characterized by comprising the following steps:
determining an overhead low-orbit satellite node corresponding to a ground high-risk area as a dangerous node;
determining a nearest available orbit plane for forwarding data packets between nodes based on a minimum distance between the dangerous node and a high risk area in the low earth orbit satellite, wherein the distance from a next hop low earth orbit satellite node in the nearest available orbit plane to the overhead of the high risk area is less than the transmission time of the next hop data packet;
and determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane, and updating the route at each hop for executing the route for forwarding the data packet.
2. The routing method for avoiding the high-risk area in the low-earth-orbit satellite network according to claim 1, wherein the determining that the overhead low-earth-orbit satellite node corresponding to the ground high-risk area is a dangerous node specifically includes:
determining a ground projection track of each low-orbit satellite based on the angular velocity and the inclination of the orbital plane of the motion of the low-orbit satellite;
determining a low-orbit satellite node which is not more than the ground coverage radius of a corresponding low-orbit satellite in geographic distance with the ground high-risk area based on the ground projection track and the absolute coordinates of the boundary point of the ground high-risk area;
and determining a set of all low-orbit satellite nodes with the geographical distance from the ground high-risk area not exceeding the ground coverage radius of the corresponding low-orbit satellite as dangerous nodes.
3. The routing method for avoiding high risk areas in a low earth orbit satellite network according to claim 2, wherein the determining the ground projection trajectory of each low earth orbit satellite based on the angular velocity and the inclination of the orbit plane of the low earth orbit satellite motion comprises:
calculating the space coordinate L of any low-orbit satellite i at the moment t by the following formula i (t)：
Wherein the content of the first and second substances,
is a unit vector of a horizontal axis in a space three-dimensional coordinate system,
is a unit vector of a vertical axis in a three-dimensional coordinate system of a space,
is a unit vector of a vertical axis in a three-dimensional coordinate system in space, and w is an angular velocity of the low-orbit satellite, psi i Is the rising point right ascension, w of any one of the low earth orbit satellites i i Is the angular velocity, θ, of said any low-earth satellite i i Inclination of the orbital plane of any of the low orbit satellites i, R p The orbit radius of any low-orbit satellite i;
determining the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t based on the space coordinate of the low-orbit satellite i at the moment t i ＝(lat i ,lon i )；
Correspondingly, the determining, based on the ground projection trajectory and absolute coordinates of the boundary point of the ground high-risk area, a low-orbit satellite node whose geographic distance from the ground high-risk area does not exceed the ground coverage radius of the corresponding low-orbit satellite specifically includes:
calculating the ground projection longitude and latitude coordinate S of any low-orbit satellite i at the moment t by the following formula i ＝(lat i ,lon i ) With high risk area A f Geographic distance D (S) i ，A f )：
Wherein R is e For the radius of the earth, hav () is the Haverine function, (lat) a ,lon a ) Is A f Longitude and latitude coordinates of any one of the locations;
constructing a constraint condition for determining that the geographic distance to the ground high-risk area does not exceed the corresponding ground coverage radius of the low-orbit satellite by the following formula:
D(S i ,A f )≤R c
wherein S is i ＝(lat i ,lon i )，lat i And lon i Longitude and latitude, R, respectively, of the terrestrial projection of any low-earth satellite i at time t c The ground coverage radius of any low earth orbit satellite i;
the determining that the set of all low-orbit satellite nodes whose geographical distances from the ground high-risk area do not exceed the corresponding ground coverage radius of the low-orbit satellite is a dangerous node specifically includes:
the Risk node Risk Sats is constructed by the following formula:
Risk Sats:{i|D(S i ,A f )≤R c }
wherein, risk Sats includes all D (S) satisfying i ,A f )≤R c Low earth orbit satellite i.
4. The method for routing away from high risk areas in a low earth orbit satellite network according to any one of claims 1-3, wherein the determining the nearest available orbital plane for forwarding packets between nodes based on the minimum distance between the dangerous nodes and the high risk areas in the low earth orbit satellite network comprises:
determining a nearest available orbital plane on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
wherein the track plane set p constructed by the nearest available track plane satisfies the following condition:
wherein, P' al Is the left boundary, P 'in the forwarding plane of the set of track planes P' ar Is the right boundary, M ', of the forwarding plane of the track plane set p' at Is the upper boundary, M ', of the motion plane of the set of orbital planes p' ab For sets of orbital planesp, gamma, the minimum distance between all low earth satellites and the high risk area.
5. The routing method for avoiding high risk areas in a low earth orbit satellite network according to claim 4, wherein the construction of the nearest available orbital plane specifically comprises:
determining an initial boundary on a low-earth orbit satellite logical plane corresponding to the high-risk region based on the danger node;
if the initial boundary meets the condition that the transmission delay of the first hop data packet is less than the time spent by any low-orbit satellite node in the boundary entering the high risk area, the initial boundary is the nearest available orbit plane at the current moment, otherwise, the nearest outer boundary of the initial boundary is determined to be the nearest available orbit plane at the current moment.
6. The routing method for avoiding high risk areas in a low earth orbit satellite network according to claim 5, wherein the updating the route at each hop of the route for forwarding the packet specifically comprises:
and updating the latest available orbit plane at the current moment after each hop of the data packet forwarding by executing the routing is completed, and updating the routing based on the updating result to determine a next hop target low orbit satellite node.
7. The routing method for avoiding high risk areas in a low earth orbit satellite network according to claim 6, wherein the updating the latest available orbital plane at the current time and the updating the routing based on the updating result to determine the next-hop target low earth orbit satellite node specifically comprises:
if the transmission delay of the next hop data packet at the current time is less than the overhead time of any low-orbit satellite node in the boundary entering the high risk area, maintaining the routing rule; if not, then,
and updating the nearest available orbit plane with the nearest outer boundary of the nearest available orbit plane at the current moment and updating the route based on the updating result to determine the next-hop target low-orbit satellite node.
8. A routing device for avoiding high risk areas in a low earth orbit satellite network, comprising:
the determining unit is used for determining overhead low-orbit satellite nodes corresponding to the ground high-risk area as dangerous nodes;
the plane unit is used for determining a nearest available orbit plane for forwarding data packets between nodes based on a minimum distance between the dangerous nodes and a high risk area in the low-orbit satellite, and the distance from a next-hop low-orbit satellite node in the nearest available orbit plane to the high risk area is less than the transmission time of the next-hop data packet;
and the routing unit is used for determining a route for forwarding the data packet between the nodes based on the nearest available orbit plane and updating the route at each hop for performing the data packet forwarding on the route.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method of routing away from high risk areas in a low earth orbit satellite network according to any of claims 1 to 7.
10. A non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, performs the steps of the method of avoiding high risk areas in a low earth orbit satellite network according to any of claims 1 to 7.
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