CN114884557B - Satellite time sensitive network path selection method based on network algorithm - Google Patents
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Abstract
The invention relates to the technical field of satellite time-sensitive network communication, in particular to a satellite time-sensitive network path selection method based on network calculation; the method comprises the steps of constructing an inter-satellite wired and inter-satellite wireless multi-node joint scheduling in a satellite network into a serial-parallel queuing model; constructing a time-sensitive service flow arrival curve according to the periodic generation characteristic of the time-sensitive service flow in the satellite network; establishing a wired and wireless fusion scheduling service curve by combining an intra-satellite wired scheduling mechanism and an inter-satellite wireless scheduling mechanism; based on a network algorithm theory, simultaneously combining the relative motion law of satellites, constructing an end-to-end time delay boundary analysis model, and deducing the end-to-end time delay boundary performance between any two satellites in a satellite network; selecting an optimal transmission path meeting time delay constraint according to the end-to-end time delay requirement set by the time-sensitive service flow; the method realizes the time delay on demand selection of the time-sensitive service flow transmission path in the satellite network, and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of satellite time-sensitive network communication, in particular to a satellite time-sensitive network path selection method based on network algorithm.
Background
The time-sensitive services such as missile early warning, satellite measurement and control, combat response, remote command control, emergency communication and the like based on a satellite network have very strict requirements on the end-to-end delay certainty of data transmission, and the services require that a data packet is delivered within a bounded and lower time. For example, when a control command is not transmitted within a predetermined time during a combat command, accurate striking of an enemy object cannot be achieved, and a combat task fails. By deterministic it is meant that the end-to-end delay per transmission of the time-sensitive traffic is predictable and the jitter is small, e.g. in the order of microseconds. For time-sensitive service, the end-to-end delay is regarded as one of the most important performance indexes, and effectively analyzing the end-to-end delay performance can provide theoretical basis for selecting a transmission path meeting the time-sensitive service delay requirement.
Network algorithm theory is widely used for network performance calculation and analysis, and time delay and flow backlog boundaries are calculated mainly through minimum addition theory. The research of the existing network algorithm in the satellite network focuses on inter-satellite link delay analysis and data relay satellite network random delay upper bound analysis, and the methods all assume that the service flows obey poisson distribution. However, in the future more extensive satellite time-sensitive networks, these analysis methods are clearly not applicable to time-sensitive traffic performance analysis. Regarding time-sensitive service time delay performance analysis, related research of the existing time-sensitive network (Time Sensitive Networking, TSN) also introduces network algorithm to perform time delay performance analysis. In the prior art, delay upper bound analysis is mainly performed from the angles of service flow characteristics, switch node scheduling mechanisms and the like, and the ground wired network end-to-end delay analysis is mainly focused, but the multi-hop wireless network is not involved.
Although the research of the existing network algorithm provides an effective solution for end-to-end delay analysis, the research of the existing network algorithm in the TSN network focuses on the influence of different scheduling mechanisms of the ground wired network on end-to-end delay, and does not relate to end-to-end delay analysis of time-sensitive services in a multi-hop wireless link. In a satellite network, not only can a node scheduling mechanism influence end-to-end time delay, but also inter-satellite link time-varying characteristics and multi-node resource joint scheduling can influence end-to-end time delay analysis.
In summary, the existing network algorithm analysis method cannot solve the problem of end-to-end delay analysis of the time-sensitive service in the satellite time-sensitive network, so that a transmission path meeting the delay requirement cannot be selected for the time-sensitive service flow.
Disclosure of Invention
In view of the problems existing in the prior art, the invention constructs a satellite network end-to-end time delay analysis model facing to time-sensitive service, and provides a satellite time-sensitive network path selection method based on network calculation; according to the connection condition between satellite nodes, establishing an inter-satellite wired and inter-satellite wireless multi-node joint scheduling process in a satellite network as a serial-parallel queuing model; according to the periodically generated characteristic of the time-sensitive service flow in the satellite network, constructing a time-sensitive service flow arrival curve model; based on the serial-parallel queuing model, establishing a wired and wireless fusion scheduling service curve model by combining an inter-satellite wired scheduling mechanism and an inter-satellite wireless scheduling mechanism; based on a network algorithm, simultaneously combining a satellite relative motion law, constructing an end-to-end time delay boundary analysis model according to a time-sensitive service flow arrival curve model and a wired and wireless fusion scheduling service curve model, and obtaining end-to-end time delay boundary performance between any two satellites in a satellite network; and selecting an optimal transmission path meeting time delay constraint according to the end-to-end time delay requirement set by the time-sensitive service flow and by combining an end-to-end time delay boundary analysis model.
According to the satellite time-sensitive network path selection method based on network algorithm, firstly, inter-satellite wired and inter-satellite wireless multi-node joint scheduling is constructed into a series-parallel queuing model according to the connection condition between satellite network nodes, then a Shi Min service flow arrival curve and a fusion scheduling service curve are deduced according to time-sensitive service arrival characteristics and a wired and wireless fusion scheduling mechanism, secondly, end-to-end time delay between any two satellites is calculated based on a network algorithm and inter-satellite distance, and finally, according to the time-sensitive service end-to-end time delay requirement, an optimal transmission path meeting time delay constraint is selected from reachable paths, so that the network resource utilization rate is improved while the end-to-end time delay requirement of the time-sensitive service flow is met.
The invention has the advantages and beneficial effects as follows:
the satellite time-sensitive network path selection method based on network algorithm is not limited to end-to-end time delay analysis, but further expands the application of network algorithm in the satellite network, and can provide a new solution for the path selection of time-sensitive service; the invention comprehensively considers the time-sensitive service flow characteristics in the satellite network, the internal and external scheduling mechanisms of the satellite nodes, the relative parameter information of the satellite relative motion law and the like which influence the end-to-end time delay, calculates the time delay between any two nodes in the network based on the network algorithm, can rapidly select the transmission path meeting the time delay constraint under the condition of knowing the source node, the destination node and the end-to-end time delay requirement, improves the utilization rate of network resources, and has wide application prospect.
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FIG. 1 is a schematic diagram of a cable-wireless converged satellite time-sensitive network path selection scenario for use in an embodiment of the present invention;
FIG. 2 is a flow chart of a satellite time-sensitive network path selection method based on network algorithm used in the present invention;
FIG. 3 is a wired and wireless converged scheduling network model used in an embodiment of the present invention;
FIG. 4 shows the maximum latency at the beginning of the backlog period of the source satellite node according to 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.
FIG. 1 is a schematic diagram of a cable-wireless converged satellite time-sensitive network path selection scenario employed in an embodiment of the present invention. In order to provide end-to-end delay deterministic guarantee service for time-sensitive services in a satellite network, an IEEE 802.1Qbv scheduling mechanism is adopted in a satellite node, and a time division multiple access (TimeDivision Multiple Access, TDMA) scheduling mechanism is adopted in an inter-satellite wireless link. As can be seen from fig. 1, under the condition of a given source node and a destination node, a time-sensitive service flow can be transmitted through several different paths, so that the end-to-end delay requirement of the time-sensitive service can be met by selecting which path to transmit is the problem which is the important solution of the present invention.
On the premise of the above-mentioned wired and wireless converged satellite time-sensitive network, fig. 2 shows a flow chart of a satellite time-sensitive network path selection method based on network algorithm in the embodiment of the invention, as shown in fig. 2, the method comprises the following steps:
101. according to the connection condition between satellite nodes, establishing an inter-satellite wired and inter-satellite wireless multi-node joint scheduling process in a satellite network as a serial-parallel queuing model;
in the embodiment of the invention, the inter-satellite wired and inter-satellite wireless multi-node joint scheduling can be constructed into a serial-parallel queuing model according to the connection condition between satellite nodes, and the method is particularly shown as a wired and wireless fusion scheduling network model shown in figure 3. The memory and transmitter inside the satellite node can be modeled as queuing and server, respectively, and the wireless scheduling of the inter-satellite link can then be equivalent to a wireless server. From the flow direction of traffic flows, the traffic flows arriving in the satellite network can be divided into two types, through-flow and cross-flow. Through-flow refers to time-sensitive traffic flow transmitted from a source satellite to a destination satellite, cross-flow refers to aggregate flow from other satellite nodes in the current satellite node, except through-flow, and aggregate flow has both an arrival and an departure state at the satellite node.
The satellite network topology may be represented by a directed graph G (V, E) in which a set of nodes V is made up of a series of satellite nodes and a set of edges E is made up of a series of inter-satellite wireless links supporting full duplex communications. Because of a certain association relationship between nodes and edges, wireless link edge set in satellite networkAnd can pass through a plurality of paired satellite nodes (v m ,v n ) Determination, i.e. E.ident. { (v) m ,v n )|v m ,v n E, V, m not equal to n, inter-satellite radio link edge e m,n ＝(v m ,v n )。
Let A (t) represent [0, t]Accumulated arrival procedure of Shi Min traffic flow over a period of time. For intermediate satellite node V m ，Aagg m (t) represents a converging flow arrival process in which, in addition to the through flow, the other satellite nodes converge to the satellite node, S m (t) and SW m (t) represents the inter-satellite wired and inter-satellite wireless links at [0, t, respectively]Service procedure within a time period, D m (t) represents the leave procedure after the time-sensitive traffic flow is scheduled by cable inside the satellite, A m+1 (t) represents the next hop satellite node V m+1 Is a cumulative arrival process of (1). Due to time-sensitive traffic flow at current node V m The leaving process of the current satellite node cannot be directly used as the input process of the next hop satellite node, namely D m (t)≠A m+1 (t)。
102. According to the periodically generated characteristic of the time-sensitive service flow in the satellite network, constructing a time-sensitive service flow arrival curve model;
in order to accurately describe the service flow arrival model, an arrival curve conforming to the actual service characteristics needs to be established according to the arrival characteristics of the time-sensitive service flow. Time-sensitive traffic in satellite networks typically exhibits switching characteristics, and conventional poisson distribution-based models do not describe the arrival characteristics of traffic very accurately. According to time in satellite networkThe periodic generation characteristic of sensitive traffic, i.e. a single time sensitive stream periodically generates data packets at certain time intervals, to construct Shi Min traffic f i The arrival curve alpha at time t i (t) is:
wherein,,represents a rounding up, p i Representing a fixed time interval of time-dependent flow generation, B i Representing the fixed frame length generated by the Shi Min stream over a period.
It will be appreciated that the time-sensitive traffic arrival curve model of this embodiment may be implemented based on a serial-parallel queuing model, or may be implemented according to an existing queuing model, which is not particularly limited by the present invention.
103. Based on the serial-parallel queuing model, establishing a wired and wireless fusion scheduling service curve model by combining an inter-satellite wired scheduling mechanism and an inter-satellite wireless scheduling mechanism;
in the embodiment of the invention, different scheduling mechanisms are adopted in the satellite and between the satellites, wherein an IEEE 802.1Qbv scheduling mechanism is adopted in the satellite node. When the service flows reach the input ports of the satellite nodes, the satellite nodes distribute the service flows to corresponding output ports through the processing of the internal switching structure of the nodes according to the pre-configured routing paths and the corresponding forwarding ports. The output port puts the arrived service in different queues according to the priority mark carried in the data packet to wait for being scheduled, and Shi Min service has the highest priority attribute.
The in-satellite wired scheduling service curve is mainly influenced by input streams from other satellite nodes and the length of a wired service window of the node, and is based on the maximum waiting time W at the beginning of a traffic backlog period at the satellite nodes and the minimum service length omega of the wired time slot scheduling window min Establishing an intra-satellite time-sensitive business service curve based on IEEE 802.1Qbv scheduling:
wherein beta is T,w (t) represents a classical TDMA service curve; t (T) Qbv The cycle is performed for a gating list in the IEEE 802.1Qbv scheduling mechanism.
The maximum waiting time W at the beginning of the traffic backlog period is defined as the maximum time that a data frame needs to wait at the beginning of the backlog period. For a source satellite node, the data stream arriving at that node is randomly generated, independent of the scheduling time slots and periods from the previous hop satellite node. Thus, the maximum latency at the beginning of the backlog period is related to the data frame arrival time and the present node scheduling period. As shown in fig. 4, at the beginning of the backlog period, if the maximum frame arrives at time t, the remaining service time in the current slot is slightly less than the transmission time required by the maximum frame, and it is necessary to delay to transmit until the next period, so that the maximum waiting time W is generated. The maximum latency at the beginning of the backlog period for the source satellite node is expressed as follows:
wherein,,is the maximum frame length at the SS output port of the source satellite node, T SS And w SS The scheduling period and the time slot length of the output port window of the source satellite node are respectively represented, and R is the transmission rate of the intra-satellite wired link.
For a relay satellite node, the scheduling of the node is constrained by the time of transmission from the previous hop node, so the time at which the backlog period begins cannot be any time, but rather is constrained by the arrival of the node from the previous hop satellite. The maximum waiting time of the relay satellite node backlog period is as follows:
wherein t is * Representing the earliest possible start time of the backlog period, represented by the earliest arrival time t of data at the node E Determining t O Representing the gate open time of the relay satellite node output port service window.
Wired time slot scheduling window minimum service length omega min Depending on the maximum frame length and the minimum frame length through the port. Minimum service length omega min The expression is as follows:
ω min ＝max{w P -l max /R,l min /R}
wherein l max And l min Respectively representing a maximum frame length and a minimum frame length, omega P Window length is scheduled for a slot.
The inter-satellite wireless TDMA scheduling mechanism provides periodic switching services for time-sensitive traffic, and thus, the service curve can be expressed as:
wherein C is the transmission rate of the wireless link, T is the TDMA scheduling period, and omega is the service window length of the wireless scheduling;
serial equivalence theorem: let data flow A (t) flow through H network nodes in series in turn to obtain service, if the service curve provided by these nodes in series for A (t) is beta in turn 1 (t),β 2 (t),…,β H (t), the service curve β (t) provided by the whole series system for a (t) satisfies:
combining the interrelation between the wired and wireless scheduling mechanisms of the satellite nodes and the serial equivalent theorem, the wired and wireless fusion scheduling service curve beta at the satellite nodes cov (t) can be expressed as:
further, a wired-wireless fusion scheduling service curve of the satellite node is established by combining an inter-satellite wired IEEE 802.1Qbv scheduling mechanism and an inter-satellite wireless TDMA scheduling mechanism; combining the correlation between the inter-satellite wired scheduling mechanism and the inter-satellite wireless scheduling mechanism of the satellite nodes, and obtaining service curves beta of N parallel nodes according to the parallel relation among the network nodes P (t) is expressed as:
β P (t)＝β cov1 (t)+β cov2 (t)+...+β covN (t)
wherein beta is covn (t) represents the service curve of the nth parallel node, n.e. [1, 2.. Multidot.n.]。
The invention can effectively carry out joint description and characterization on the connection relation between network nodes and the satellite node scheduling mechanism through the series-parallel queuing model.
104. Based on a network algorithm, simultaneously combining a satellite relative motion law, constructing an end-to-end time delay boundary analysis model according to a time-sensitive service flow arrival curve model and a wired and wireless fusion scheduling service curve model, and obtaining end-to-end time delay boundary performance between any two satellites in a satellite network;
in a satellite network, a plurality of reachable paths exist between any two satellites, and the end-to-end time delay on any reachable path is calculated through a network algorithm so as to provide a theoretical basis for path selection. Shi Min traffic flows need to reach the destination end via multi-hop wireless links when transmitted in a satellite network, and the end-to-end delay is affected by factors such as satellite wireless link characteristics, node scheduling mechanisms, wireless link time slot allocation, transmission rate and the like. Delay (t) of Shi Min service after flowing through M cable-wireless fusion satellite nodes meets
Delay(t)≤H(α,β)＝sup t≥0 {inf{d≥0:α(t)≤β 1M (t+d)}}
Shi Min traffic flow A 1 (t) service curve beta obtained by sequentially passing through M wired and wireless fusion satellite nodes connected in series 1M The method meets the following conditions:
when multiple satellite nodes are combined for resource allocation, time-sensitive data is set to flow through M satellites to reach destination end, i m Represents the mth transmission link that passes over the streaming path and the total number of hops from source to destination is M-1, i.e., a total of M-1 wireless transmission links are experienced. The end-to-end delay calculation formula is as follows:
wherein,,representing the transmission delay of a wired link, consisting of a single satellite node S i Transmission rate of->And the data amount B of the time-sensitive data stream. D (D) Queu_total Representing the total queuing delay resulting from the joint allocation of the multi-node resources.
105. And selecting an optimal transmission path meeting time delay constraint according to the end-to-end time delay requirement set by the time-sensitive service flow and by combining an end-to-end time delay boundary analysis model.
In the embodiment of the invention, under the condition of given time-sensitive traffic stream source node and destination node, the time delay between any reachable paths is calculated according to the end-to-end time delay calculation method based on network calculation. Suppose Shi Min traffic flow f i Is that the end-to-end delay requirement isThe source satellite node is +.>The destination satellite node is->Shi Min traffic reachable paths are aggregated asG represents the maximum number of reachable paths. According to the end-to-end time delay calculation formula, an end-to-end time delay set of all reachable paths can be obtained>
Because of the time-sensitive traffic delay requirements and link loading conditions, not every link can meet the time-sensitive traffic transmission requirements. Therefore, it is necessary to combine end-to-end latency and link load conditions from the set of reachable paths G i The best transmission path that satisfies the delay constraint is selected. The calculation of the reachable path link load set according to the traffic volume carried by the existing link in the network is represented as follows:
obtaining the end-to-end delay set of the reachable path of the time-sensitive service flowAnd link load set L i Is used for the optimal path selection.
If it isG is more than or equal to 1 and less than or equal to G, and then the candidate paths are placed in a candidate path set CS; next, combining the candidate path set, and removing links which do not exist in the candidate paths from the link load set to obtain a candidate path set based on the link load; ordering the candidate paths from low to high according to the link load, and selecting the link with the lowest load as the optimal transmission path +.>
The time-sensitive service transmission path selected based on the network algorithm in the embodiment of the invention not only can meet the end-to-end time delay requirement of the time-sensitive service flow, but also can avoid network congestion and improve the utilization rate of network resources.
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 (2)
1. A satellite time sensitive network path selection method based on network algorithm is characterized in that the method comprises the steps of constructing an inter-satellite wired and inter-satellite wireless multi-node joint scheduling process in a satellite network into a series-parallel queuing model according to the connection condition between satellite nodes; according to the periodically generated characteristic of the time-sensitive service flow in the satellite network, constructing a time-sensitive service flow arrival curve model; based on the serial-parallel queuing model, establishing a wired and wireless fusion scheduling service curve model by combining an inter-satellite wired scheduling mechanism and an inter-satellite wireless scheduling mechanism; based on a network algorithm, simultaneously combining a satellite relative motion law, constructing an end-to-end time delay boundary analysis model according to a time-sensitive service flow arrival curve model and a wired and wireless fusion scheduling service curve model, and obtaining end-to-end time delay boundary performance between any two satellites in a satellite network; selecting an optimal transmission path meeting time delay constraint according to the end-to-end time delay requirement set by the time-sensitive service flow and by combining an end-to-end time delay boundary analysis model;
the construction process of the serial-parallel queuing model comprises the steps of equivalently modeling a memory and a transmitter in satellite nodes as queuing and a server respectively, and equivalently modeling wireless scheduling of inter-satellite links between the satellite nodes as a wireless server; according to the service flow direction in the satellite network, which comprises two types of through flow and cross flow, and combines the inter-satellite wired scheduling and the inter-satellite wireless scheduling mechanism, a multi-node joint scheduling mechanism of the satellite network is constructed into a series-parallel queuing model;
the construction process of the time-sensitive traffic flow arrival curve model comprises constructing Shi Min traffic flow f according to the periodically generated characteristic of time-sensitive traffic flow in satellite network, i.e. single time-sensitive flow periodically generates data packets at certain time intervals i The arrival curve alpha at time t i (t) is:
wherein,,represents a rounding up, p i Representing a fixed time interval of time-dependent flow generation, B i Representing the fixed frame length generated by the Shi Min stream over a period;
the construction process of the wired and wireless fusion scheduling service curve model comprises the steps of combining an inter-satellite wired IEEE 802.1Qbv scheduling mechanism and an inter-satellite wireless TDMA scheduling mechanism to establish a wired and wireless fusion scheduling service curve of a satellite node; combining the correlation between the inter-satellite wired scheduling mechanism and the inter-satellite wireless scheduling mechanism of the satellite nodes and the serial equivalent theorem, and combining the wired and wireless fusion scheduling service curve beta at the satellite nodes cov (t) is expressed as:
wherein beta is Qbv (t) time-sensitive traffic service curves representing an intra-satellite wired IEEE 802.1Qbv scheduling mechanism; beta TDMA (t) time-sensitive business service curves representing inter-satellite wireless TDMA scheduling mechanisms;
the construction process of the wired and wireless fusion scheduling service curve model also comprises the step of establishing a wired and wireless fusion scheduling service curve of a satellite node by combining an inter-satellite wired IEEE 802.1Qbv scheduling mechanism and an inter-satellite wireless TDMA scheduling mechanism; combining the interrelation between the satellite node inter-satellite wired scheduling mechanism and inter-satellite wireless scheduling mechanism according to the network nodeThe parallel relation among the points obtains the service curves beta of N parallel nodes P (t) is expressed as:
β P (t)＝β cov1 (t)+β cov2 (t)+...+β covN (t)
wherein beta is covn (t) represents the service curve of the nth parallel node, n.e. [1, 2.. Multidot.n.]；
The time-sensitive service curve of the inter-satellite wired IEEE 802.1Qbv scheduling mechanism is influenced by input streams from other satellite nodes and the length of a wired service window of the node, and is based on the maximum waiting time W at the beginning of a traffic backlog period at the satellite nodes and the minimum service length omega of the wired time slot scheduling window min Establishing an intra-satellite time-sensitive business service curve based on IEEE 802.1Qbv scheduling:
wherein,,representing a classical TDMA service curve; t (T) Qbv Performing a cycle for a gating list in an IEEE 802.1Qbv scheduling mechanism;
the time-sensitive service curve of the inter-satellite wireless TDMA scheduling mechanism comprises periodic switching services provided by the inter-satellite wireless TDMA scheduling mechanism for time-sensitive services, so that the service curve is expressed as:
wherein C is the transmission rate of the wireless link, T is the TDMA scheduling period, and omega is the service window length of the wireless scheduling;
the construction process of the end-to-end delay boundary analysis model comprises the steps of calculating the sum of processing, queuing and transmission delay of Shi Min service flow on any section of transmission path based on a network algorithm, calculating inter-satellite propagation delay according to a satellite relative motion rule, and obtaining the end-to-end delay boundary performance between any two satellites by combining a delay calculation formula and network topology information.
2. The method according to claim 1, wherein the selecting an optimal transmission path satisfying a delay constraint by combining an end-to-end delay boundary analysis model includes selecting an optimal transmission path satisfying a delay constraint from among reachable paths according to an end-to-end delay boundary and a link load condition under a given time-sensitive traffic stream source node and destination node and an end-to-end delay requirement.
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