CN114039654B - Routing method based on load balancing for large-scale LEO satellite network - Google Patents
Routing method based on load balancing for large-scale LEO satellite network Download PDFInfo
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Abstract
The invention belongs to the field of satellite communication, and particularly relates to a routing method based on load balancing for a large-scale LEO satellite network; checking the link utilization rate of an inter-satellite link of a current satellite every other observation time, finding a shuntable neighbor satellite, checking the link utilization rate of the inter-satellite link of an outgoing interface in real time, if the link utilization rate does not reach a set congestion threshold, directly executing data forwarding by the current satellite, selecting the shuntable neighbor satellite as the next hop of a data packet, and performing shunting operation; the invention can avoid the problem of network congestion caused by the increase of partial link traffic in the satellite network, improve the routing performance of the satellite network and reduce the data forwarding pressure of the satellite; the invention only carries out information interaction with the neighbor satellite, so that the invention can have faster response when the link congestion occurs in a large-scale satellite network scene, and the consumption of calculation resources and communication resources is less.
Description
Technical Field
The invention belongs to the field of satellite communication, and particularly relates to a routing method based on load balancing for a large-scale LEO satellite network.
Background
Due to the rapid development of aerospace technology and communication technology, satellite networks have become the key communication infrastructure in the future, and satellite communication has become an indispensable important communication means in modern society. Satellite networks may provide long-range communication services to subscribers worldwide, independent of geographic environment constraints. As a backbone network of a spatial information network, a satellite network plays an important role in communication, navigation, positioning, etc., and provides communication services with high quality whenever and wherever possible. With the development of science and technology, the large-scale LEO constellation satellite communication network is unprecedented in development and application.
However, while the satellite network provides convenience for us, because the satellite network has the characteristics of high dynamic property, uneven distribution of ground users and the like, satellites covering developed areas are usually more loaded than satellites covering undeveloped areas, oceans and mountains from the global perspective, so that network load imbalance is easily caused, partial satellite link congestion occurs, surrounding satellites are not fully utilized, and further queuing delay and overload loss probability of data packets are increased.
The load balancing technology is an important research topic in a satellite network routing algorithm, and has important significance for relieving traffic congestion in a satellite network. The current mainstream load balancing method in the satellite network mainly makes decisions according to the global link state. Global policies typically include collecting global link state information and making routing decisions based on the current global view. The method relieves the global congestion problem, ensures better network utilization rate, and has the problems of low reaction speed, large path calculation resource consumption and large communication and storage expenditure when acquiring global link state information when facing a large-scale LEO satellite scene. For a large-scale satellite constellation, since the number of satellites and satellite links are more, thousands of satellites may transmit data at the same time, and the number of hops passed during data transmission is also more, so that routing from a global view will cause the satellites to consume a large amount of computing resources, and therefore, the global strategy is not suitable for a large-scale LEO network.
Disclosure of Invention
In order to solve the problems, the invention provides a routing method based on load balancing for a large-scale LEO satellite network, which specifically comprises the following steps:
constructing a low orbit satellite network topology based on the satellite ID, and sending network detection packets by the current satellite in the network topology at regular time to find neighbor satellites and maintain neighbor relations;
the current satellite checks the link utilization rate of the inter-satellite link of the current satellite every other observation time, and if the link utilization rate exceeds a set congestion threshold value, a diversion request packet is sent to inquire whether the neighbor satellite can accept diversion;
after receiving the shunt request packet, the neighbor satellite sets the current satellite sending the shunt request packet to be in an uncombinable state, and detects whether the link utilization rate of the inter-satellite link of the neighbor satellite is smaller than an acceptable shunt threshold value or not, and then responds;
when the current satellite receives the data packet, forwarding the data packet according to the satellite ID number, and calculating the next hop address and the outgoing interface of the data packet;
the current satellite checks the link utilization rate of the inter-satellite link where the outgoing interface is located in real time, if the link utilization rate does not reach the set congestion threshold value, the current satellite directly executes data forwarding, otherwise, according to the response of the neighbor satellite to the splitting request, the neighbor satellite capable of splitting is selected as the next hop of the data packet, and splitting operation is performed.
The invention has the beneficial effects that:
the routing method based on load balancing for the large-scale LEO satellite network, which is provided by the invention, utilizes the periodic link detection of the current satellite to conduct link congestion pre-judgment, sends a diversion request packet to the neighbor satellite in advance when the inter-satellite link of the satellite network is not severely congested temporarily, and preferentially selects the neighbor satellite which is not congested as the next hop of the data packet when the data packet is forwarded, thereby avoiding the network congestion problem caused by the increase of partial link traffic in the satellite network, improving the routing performance of the satellite network and reducing the data forwarding pressure of satellite nodes. Compared with the global load balancing method, the method has the advantages that the current satellite only performs information interaction with the neighbor satellite, so that a faster response can be realized when link congestion occurs in a large-scale satellite network scene, and the consumption of computing resources and communication resources is reduced.
Drawings
FIG. 1 is a topology of a low orbit satellite network according to an embodiment of the present invention;
fig. 2 is a flowchart of a routing method based on load balancing for a large-scale LEO satellite network according to an embodiment of the present invention;
FIG. 3 is a specific flow chart of a data packet interaction with a neighbor after congestion occurs in a current satellite in an embodiment of the present invention;
fig. 4 is a flow chart of the present satellite using the routing mechanism with the load balancing method in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Satellite networks can be separated from the limitations of the geographic environment, provide long-distance communication services for users in the global area, and have become a key communication infrastructure in the future due to the rapid development of aerospace technology and communication technology. The satellite network can be generally divided into a low-orbit satellite network, a medium-orbit satellite network and a high-orbit satellite network, and fig. 1 is a topology diagram of the low-orbit satellite network adopted in the embodiment of the invention; a typical low-orbit satellite network scenario for the application of the present invention is shown in fig. 1, and the specific application scenario is not limited thereto. Each satellite in each satellite orbit and each satellite in each satellite orbit is numbered in fig. 1, e.g. located on the ith orbitj satellites are marked as S i,j In fig. 1, most LEO satellites establish four inter-satellite links with four surrounding neighbors, two of which are inter-orbital inter-satellite links and the other two of which are intra-orbital inter-satellite links.
The satellite network load balancing strategy does not have a universal standardized protocol system or technical framework at present, and the main stream of the satellite network load balancing strategy is mainly divided into a global strategy and a local strategy. Global policies typically include collecting global link state information and making routing decisions based on the link conditions of the current network topology. The method can relieve the problem of global network congestion, ensure better network utilization rate, but also has the problems of low reaction speed and high communication and storage expenses. However, since the computing resources and storage resources of satellites are all at a premium, the adoption of global strategies will present a great challenge to the performance of current satellites in the face of large-scale satellite network scenarios. The local strategy allows the satellite to independently make a routing decision according to the local link state, can provide rapid network adaptability, has smaller communication and storage cost than the global strategy, and is more suitable for satellite network scenes with scarce satellite resources.
Based on the analysis, the invention adopts the local policy to complete the routing mechanism based on load balancing for the large-scale LEO satellite network, and fig. 2 is a flow chart of the routing method based on load balancing for the large-scale LEO satellite network, which can preferentially select nodes which are not congested as the next hop of the data packet when the current satellite forwards the data packet, so as to avoid the problem of network congestion caused by the increase of partial link traffic in the satellite network, improve the routing performance of the satellite network and reduce the data forwarding pressure of the current satellite. The method includes, but is not limited to, the steps of:
101. constructing a low orbit satellite network topology based on the satellite ID, and sending network detection packets by the current satellite in the network topology at regular time to find neighbor satellites and maintain neighbor relations;
in the embodiment of the invention, each satellite has an independent and unique ID, and the ID is determined according to the track number of the track in which the satellite is located and the position of the satellite in the track (namely the satellite number); the invention can utilize the periodic characteristic of the low orbit satellite orbit and the predictable characteristic of the constellation structure, and adopts the control strategy of virtual topology to obtain continuous static topology snapshot in the operation period of a satellite system; and forming a low orbit satellite network topology; the low orbit satellite network topology comprises a large number of satellites, the satellites confirm the existence of other satellites by mutually sending detection packets and maintain the neighbor relation and the topology structure, wherein the maintenance of the neighbor relation is to maintain the network topology relation, and if the neighbor relation changes (such as the neighbor fails), the corresponding satellite can update the corresponding topology relation.
102. The current satellite checks the link utilization rate of the inter-satellite link of the current satellite every other observation time, and if the link utilization rate exceeds a set congestion threshold value, a diversion request packet is sent to inquire whether the neighbor satellite can accept diversion;
in the embodiment of the invention, each current satellite will be periodic, such as every observation time t o Detecting the link utilization rate of the inter-satellite link of the link, and if a certain link is found to reach a light congestion state, namely exceeds a set congestion threshold value, continuously judging whether the link belongs to the inter-satellite link in the track or the inter-satellite link between the tracks; if the current satellite is an inter-satellite link in the orbit, the current satellite sends a shunt request packet to a neighboring satellite in the different orbit; if the link is an inter-orbit inter-satellite link, the current satellite sends a split request packet to the co-orbit neighbors.
The calculation formula of the link utilization rate beta of the inter-satellite link is expressed as follows:
wherein BW is used For the observation time t o BW within the link used bandwidth total TransVal is the total bandwidth of the link t For the observation time t o The number of bits transmitted at a certain time.
If the current link utilization rate of a certain inter-satellite link exceeds a set link congestion threshold alpha, judging that the inter-satellite link enters a light congestion state, and sending a Pkt_Req packet to a neighbor to inquire whether the neighbor can accept shunting;
in the embodiment of the invention, the method for selecting the link congestion threshold value alpha comprises the following steps:
wherein α represents a set congestion threshold value, p a Representing average packet loss rate of the whole satellite network in a period of time, p represents average packet loss rate of the current satellite in a period of time, d ij The distance between two adjacent satellites i and j is represented, v is the propagation speed of electromagnetic waves in the universe, and RTT is the round trip delay of a data packet propagating between two current satellites.
Distance d between two adjacent satellites ij From the current position of two satellites [ x (t), y (t), z (t)]Calculated, d ij Expressed as:
the calculation mode of the average link utilization rate gamma is as follows:
wherein beta is i The link utilization of the ith inter-satellite link is given, and n is the number of inter-satellite links of the satellite.
And if the current satellite monitors that the link utilization rate beta of a certain inter-satellite link is larger than the congestion threshold value alpha at the moment, sending a diversion request data packet Pkt_req to other neighbor satellites. The pkt_req contains the satellite ID from which the streaming request originates and the average link utilization γ.
103. After receiving the shunt request packet, the neighbor satellite sets the current satellite sending the shunt request packet to be in an uncombinable state, and detects whether the link utilization rate of the inter-satellite link of the neighbor satellite is smaller than an acceptable shunt threshold value or not, and then responds;
in the embodiment of the invention, after receiving the splitting request packet, the neighbor satellite sets the neighbor satellite initiating the splitting request to be in a non-splitting state according to the satellite ID number in the Pkt_req splitting request packet, and records the average link utilization rate of the neighbor node initiating the splitting request according to the gamma value; meanwhile, whether the link state of the neighbor satellite meets the splitting requirement is checked, a link acceptable splitting threshold is set as kalpha, the link utilization rate beta of the links where all interfaces are located is detected, if the link utilization rate beta is smaller than kalpha, namely, the link utilization rate of all links of the neighbor satellite is smaller than the acceptable splitting threshold, the neighbor satellite can bear splitting flow, and at the moment, the neighbor satellite is not in a polar region, a Pkt_ack response packet is returned to the satellite which sends a splitting request packet to accept the splitting request; if beta is not less than kα, returning a pkt_Rej response packet to the current satellite sending the split request packet, wherein the pkt_Rej response packet indicates that the current satellite cannot accept split.
In some embodiments, the satellite sending the split request packet sets the neighboring satellite to a state that can be split or a state that cannot be split according to the type of the response packet returned by the neighboring satellite, and if the neighboring satellite can accept the split, the average link utilization rate of the neighboring satellite needs to be recorded at the same time.
Fig. 3 is a specific flowchart of a data packet interacted with a neighboring satellite after congestion occurs in a satellite in the embodiment of the present invention, in this embodiment, because the current satellite link utilization reaches a set congestion threshold, the current satellite may send a split request packet to inquire whether the neighboring satellite can accept the split, which includes a process that the current satellite sends the split request packet, and a process that the neighboring satellite receives the split request packet and returns a response packet after analyzing, the specific process is as shown in fig. 3:
satellites in the satellite network will be at intervals of observation time t o Updating the queue state of the interface, detecting whether at least one interface queue is congested, namely, if the link utilization rate of the interface exceeds a set congestion threshold value, judging whether the congestion occurs to an out-of-track link, if the congestion occurs to the out-of-track link, the current satellite can be used as a congestion satellite to the in-track neighborsThe satellite sends a Pkt_Req shunt request packet; if congestion occurs on the same-orbit link, the current satellite can be used as a congestion satellite to send a Pkt_Req shunt request packet to a different-orbit neighbor satellite; the neighbor satellite receiving the shunt request packet can check the link state of the neighbor satellite, if all interfaces of the neighbor satellite are communicated and congestion is not caused, the current satellite sends back a Pkt_ack response packet to the current satellite sending the shunt request packet, and the current satellite can set the neighbor satellite to be in a shunt state; if all interfaces of the neighbor satellite are not connected or congestion exists, the current satellite returns a pkt_Rej response packet to the current satellite sending the split request packet, and the current satellite can set the neighbor satellite to an unbreakable state.
In the embodiment of the invention, the calculation mode of the acceptable shunt threshold value comprises the steps of establishing a generalized random stable process according to the burst flow of the neighbor satellite, and constructing the generalized random stable process with self-similarity by utilizing self-similarity parameters; estimating self-similarity parameters according to a variable scale range analysis method, calculating acceptable shunt coefficients according to the self-similarity parameters, and taking the product of the acceptable shunt coefficients and the congestion threshold as an acceptable shunt threshold.
The acceptable shunt threshold of the neighbor node is set to be k alpha, wherein the k value is determined according to the burst traffic prediction of the neighbor node. The invention adopts a self-similar model with long correlation characteristic to describe satellite network flow, wherein the network flow has the self-similar characteristic that when the flow is in a burst state in the current period of time, the flow is more likely to be in the burst state continuously in the subsequent time.
Specifically, the invention firstly defines a generalized stable random process X (n), wherein n=1, 2,3 …, X (t) represents network traffic (bit number, packet number and the like) which arrives in the t-th unit time when describing network traffic, and if the generalized stable random process X (n) is self-similar, a generalized random stable process with self-similarity can be constructed by utilizing self-similarity parameters; i.e. forThere is a certain constant H such that the following holds:
wherein, the liquid crystal display device comprises a liquid crystal display device,the probability is equal, a represents any constant, H is a self-similarity parameter, and is 0.5 as a measure of the degree of self-similarity<H<1. The closer H is to 1, the greater the degree of self-similarity or persistence that the stochastic process X (n) is represented to be, the greater the probability of bursty traffic appearing in the present invention. X (at) represents the network traffic arriving at the at-th unit time.
In the invention, a variable scale range analysis (R/S analysis) method can be adopted to estimate self-similarity parameters, and an acceptable shunt coefficient is calculated according to the self-similarity parameters, and the product of the acceptable shunt coefficient and a congestion threshold value is used as an acceptable shunt threshold value.
Wherein, the process of estimating the self-similarity parameter H by adopting the R/S analysis method can comprise the following steps:
first, the number of bits reaching node A per unit time in a period of time is obtained as N samples of a random process, denoted as { X ] k The k-th bit number reaching the node A in unit time is more than or equal to 1 and less than or equal to N;
the partial sums are defined as:
the defined portion and the corresponding sample variance are:
the defining part and the corresponding maximum dispersion are:
dividing the N samples into K sample blocks, each sample block having a size of N/K, and calculating a maximum dispersion R (K) of the corresponding block for each sample block i ,n)/S(k i N), where k i Represents the starting point, k, of the calculation of the R/S statistic in the ith sample block i =i (N/K) +1, i=1, 2, … and K i +n≤N；
Selecting proper n values, obtaining a plurality of estimated values of R (n)/S (n) corresponding to each n value, and taking log [ R (k) i ,n)/S(k i ,n)]Graphs against log n, i.e. using log n function versus log [ R (k) i ,n)/S(k i ,n)]Linear regression.
Obtaining a straight line by adopting a least square fitting method, so that points in the graph are distributed at two sides of the straight line, wherein the slope of the straight line is an estimated value of H, and the slope is a self-similarity parameter H; calculating according to a formula k=1-0.5H to obtain an acceptable shunt coefficient k; the product kα of the acceptable split coefficient k and the congestion threshold α is taken as the acceptable split threshold.
104. When the current satellite receives the data packet, forwarding the data packet according to the ID number of the satellite, and calculating the next hop address and the outgoing interface;
in the embodiment of the invention, the satellite node forwards according to the satellite ID number when forwarding the data packet, but not directly forwards the data according to the IP address of the target satellite, and when the current satellite receives the data packet, the target IP address of the head of the data packet needs to be analyzed to obtain the target satellite ID; comparing the size of the target satellite ID with the current satellite ID, and determining the next hop satellite ID number; if the current satellite and the target satellite are not in the same orbit, and the orbit number of the current satellite is smaller than the orbit number of the orbit of the target satellite, adding one to the orbit number corresponding to the next-hop satellite ID, otherwise subtracting one to the orbit number corresponding to the next-hop satellite ID; if the current satellite and the target satellite are in the same orbit and the position number of the current satellite is smaller than that of the target satellite, adding one to the position number corresponding to the next-hop satellite ID, otherwise subtracting one to the position number corresponding to the next-hop satellite ID; and determining the data packet outgoing interface according to the ID number of the current satellite of the next hop.
105. The current satellite checks the link utilization rate of the inter-satellite link where the outgoing interface is located in real time, if the link utilization rate does not reach the set congestion threshold value, the current satellite directly executes data forwarding, otherwise, according to the response of the neighbor satellite to the splitting request, the neighbor satellite capable of splitting is selected as the next hop of the data packet, and splitting operation is performed.
In the embodiment of the invention, after the current satellite receives the data packet or when the current satellite prepares to receive the data packet, whether the link utilization rate of the inter-satellite link where the interface is positioned reaches a set congestion threshold value is detected in real time, if not, the current satellite forwards the data packet according to the calculated next hop ID; if the satellite is in the polar region, whether the position of the satellite is in the polar region is further detected, if the satellite is in the polar region, load balancing is not used, if the satellite is not in the polar region, whether the node number or the orbit number of the target satellite is the same as that of the current satellite is further judged, if the satellite is the same, load balancing is not used, otherwise, the azimuth of the target satellite relative to the current satellite is judged, and the shuntable neighbor satellite is selected as the next hop of the data packet and is used for shunting operation.
In the embodiment of the invention, the selecting the shunted neighbor satellite as the next hop of the data packet and performing the shunting operation includes preferentially selecting the neighbor satellite with the smallest average link utilization ratio for shunting if a plurality of shunted neighbor satellites exist; if no distributable neighbor satellite exists, no distribution is performed.
FIG. 4 is a flow chart of a method for balancing the load of a satellite node according to an embodiment of the present invention; as shown in fig. 4, the process mainly includes:
the satellite node firstly analyzes the data packet, and calculates the next hop satellite ID and interface number of the target satellite according to the target satellite ID number according to the normal flow; comparing the size of the target satellite ID with the current satellite ID, and determining the next hop satellite ID number; detecting whether the link utilization rate of an inter-satellite link where an interface of a next-hop satellite is located reaches a set congestion threshold value, if so, further detecting whether the self position is in a polar region, if so, not using load balancing, if not, further judging whether a target satellite is identical to a node number or an orbit number of a current satellite, if so, not using load balancing, otherwise, judging the azimuth of the target satellite relative to the current satellite, if the current satellite and the target satellite are not in the same orbit, namely are in an out-of-orbit link, and the orbit number of the current satellite is smaller than the orbit number of the orbit of the target satellite, adding a selection for forwarding upwards to the orbit number corresponding to the ID of the next-hop satellite, otherwise subtracting a selection for forwarding downwards to the orbit number corresponding to the ID of the next-hop satellite; if the current satellite and the target satellite are in the same orbit, namely in the same orbit link, and the position number of the current satellite is smaller than the position number of the target satellite, adding a selection to the position number corresponding to the next-hop satellite ID for forwarding upwards, otherwise subtracting a selection from the position number corresponding to the next-hop satellite ID for forwarding downwards.
In the description of the present invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "another end," "upper," "one side," "top," "inner," "outer," "front," "center," "two ends," etc. indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "configured," "connected," "secured," "rotated," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intermediaries, or in communication with each other or in interaction with each other, unless explicitly defined otherwise, the meaning of the terms described above in this application will be understood by those of ordinary skill in the art in view of the specific circumstances.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A method for load balancing-based routing for a large-scale LEO satellite network, the method comprising:
constructing a low orbit satellite network topology based on the satellite ID, and sending network detection packets by the current satellite in the network topology at regular time to find neighbor satellites and maintain neighbor relations;
the current satellite checks the link utilization rate of the inter-satellite link of the current satellite every other observation time, and if the link utilization rate exceeds a set congestion threshold value, a diversion request packet is sent to inquire whether the neighbor satellite can accept diversion;
the current satellite checks the link utilization rate of the inter-satellite link per se every other observation time, if the link utilization rate exceeds a set congestion threshold value, a diversion request packet is sent to inquire whether a neighbor satellite can accept diversion or not, the link utilization rate of the inter-satellite link per se is periodically detected by each satellite, and if a certain link is found to reach a light congestion state, namely exceeds the set congestion threshold value, the link is judged to belong to the inter-satellite link in the orbit or to belong to the inter-satellite link between the orbits; if the current satellite is an inter-satellite link in the orbit, the current satellite sends a shunt request packet to a neighboring satellite in the different orbit; if the current satellite is an inter-satellite link between orbits, the current satellite sends a shunt request packet to a neighbor in the same orbit;
after receiving the shunt request packet, the neighbor satellite sets the current satellite sending the shunt request packet to be in an uncombinable state, and detects whether the link utilization rate of the inter-satellite link of the neighbor satellite is smaller than an acceptable shunt threshold value or not, and then responds;
after receiving the split request packet, the neighbor satellite detects whether the link utilization rate of the inter-satellite link of the neighbor satellite is smaller than an acceptable split threshold value, and then the neighbor satellite sends a response including that after receiving the split request packet, the neighbor satellite checks whether the link state of the neighbor satellite meets the split requirement; if the current satellite sending the distribution request packet does not meet the distribution request packet, returning a Pkt_Rej response packet to the current satellite sending the distribution request packet, wherein the current satellite sending the distribution request packet does not accept the distribution; if the current satellite sends out the distribution request packet, a Pkt_Ack response packet is returned to the current satellite, wherein the current satellite sends out the distribution request packet, and the Pkt_Ack response packet indicates that the current satellite can accept distribution;
when the current satellite receives the data packet, forwarding the data packet according to the ID number of the satellite, and calculating the next hop and outgoing interface of the data packet;
the current satellite checks the link utilization rate of the inter-satellite link where the outgoing interface is located in real time, if the link utilization rate does not reach the set congestion threshold value, the current satellite directly executes data forwarding, otherwise, according to the response of the neighbor satellite to the splitting request, the neighbor satellite capable of splitting is selected as the next hop of the data packet, and splitting operation is performed.
2. The method for load balancing-based routing for a large-scale LEO satellite network according to claim 1, wherein the congestion threshold is calculated by the following method:
wherein α represents a set congestion threshold value, p a Representing average packet loss rate of the whole satellite network in a period of time, p represents average packet loss rate of the current satellite in a period of time, d ij And v is the propagation speed of electromagnetic waves in the universe, and RTT is the round trip delay of the propagation of a data packet between two current satellites.
3. The routing method based on load balancing for a large-scale LEO satellite network according to claim 1 or 2, wherein the calculation mode of the acceptable split threshold includes establishing a generalized random stationary process according to the burst traffic of the neighboring satellites, and constructing a generalized random stationary process with self-similarity by using self-similarity parameters; estimating self-similarity parameters according to a variable scale range analysis method, calculating acceptable shunt coefficients according to the self-similarity parameters, and taking the product of the acceptable shunt coefficients and the congestion threshold as an acceptable shunt threshold.
4. A method of load balancing-based routing for large-scale LEO satellite networks according to claim 3, wherein said constructing a generalized stochastic stationary process with self-similarity using self-similarity parameters is expressed as:
wherein X (t) represents the network traffic arriving in the t-th unit time;the probability is equal, a represents any constant, H is a self-similar parameter, and 0.5<H<1, a step of; x (at) represents the network traffic arriving at the at-th unit time.
5. A routing method based on load balancing for a large-scale LEO satellite network according to claim 3, wherein the estimating the self-similarity parameters according to the variable scale range analysis method and calculating the acceptable split coefficients according to the self-similarity parameters, wherein the taking the product of the acceptable split coefficients and the congestion threshold as the acceptable split threshold comprises obtaining the number of bits reaching the node per unit time in a period of time and taking the number as N samples of a random process; dividing N samples into K sample blocks, selecting part bit numbers from each sample block, calculating corresponding sample partial sums, calculating variance and dispersion of each sample partial sum, fitting a logarithmic function value of the ratio of the dispersion of each sample partial sum to the variance by a least square method to obtain a straight line, and estimating the slope H of the straight line, wherein the slope is the self-similarity parameter H; calculating according to a formula k=1-0.5H to obtain an acceptable shunt coefficient k; the product kα of the acceptable split coefficient k and the congestion threshold α is taken as the acceptable split threshold.
6. The routing method based on load balancing for a large-scale LEO satellite network according to claim 1, wherein when the current satellite receives a data packet, forwarding the data packet according to a satellite ID number, and calculating the next hop and outgoing interface of the data packet includes resolving the destination IP address of the header of the data packet to obtain a destination satellite ID; comparing the size of the target satellite ID with the current satellite ID, and determining the next hop satellite ID number; if the current satellite and the target satellite are not in the same orbit, and the orbit number of the current satellite is smaller than the orbit number of the orbit of the target satellite, adding one to the orbit number corresponding to the next-hop satellite ID, otherwise subtracting one to the orbit number corresponding to the next-hop satellite ID; if the current satellite and the target satellite are in the same orbit and the position number of the current satellite is smaller than that of the target satellite, adding one to the position number corresponding to the next-hop satellite ID, otherwise subtracting one to the position number corresponding to the next-hop satellite ID; and determining the data packet outgoing interface according to the ID number of the current satellite of the next hop.
7. The routing method based on load balancing for a large-scale LEO satellite network according to claim 6, wherein the current satellite checks the link utilization of the inter-satellite link where the outgoing interface is located in real time, if the link utilization does not reach the set congestion threshold, the current satellite directly performs data forwarding, otherwise, according to the response of its neighboring satellite to the splitting request, selects the neighboring satellite that can be split as the next hop of the data packet and performs splitting operation, and includes that the current satellite detects whether the link utilization of the inter-satellite link where the interface is located reaches the set congestion threshold, if not, forwarding according to the calculated next hop ID; if the satellite is in the polar region, load balancing is not used, if the satellite is not in the polar region, whether the target satellite is the same as the node number or the orbit number of the current satellite is further judged, if the satellite is the same as the node number or the orbit number of the current satellite, the shunting operation is not executed, otherwise, the azimuth of the target satellite relative to the current satellite is judged, and the shuntable neighbor satellite is selected as the next hop of the data packet and is used for shunting operation.
8. The method for routing a large-scale LEO satellite network based on load balancing according to claim 1 or 7, wherein selecting the shuntable neighbor satellite as the next hop of the data packet and performing the shunting operation includes preferentially selecting the neighbor satellite with the smallest average link utilization for shunting if there are a plurality of shuntable neighbor satellites; if no distributable neighbor satellite exists, the distribution operation is not executed, and the forwarding is carried out according to the original routing path.
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