CN114978979B

CN114978979B - Route generation method, apparatus and storage medium

Info

Publication number: CN114978979B
Application number: CN202210888341.1A
Authority: CN
Inventors: 赵鹏; 刘江; 朱士伟; 赵喜凤; 丁睿
Original assignee: Network Communication and Security Zijinshan Laboratory
Current assignee: Network Communication and Security Zijinshan Laboratory
Priority date: 2022-07-27
Filing date: 2022-07-27
Publication date: 2022-10-14
Anticipated expiration: 2042-07-27
Also published as: WO2024022185A1; CN114978979A

Abstract

The application relates to a route generation method, a route generation device and a storage medium. And according to the first number of the orbits in the low-orbit satellite network and the second number of the satellites on each orbit, carrying out network hierarchical domain division processing on the low-orbit satellite network to obtain a plurality of level hierarchical networks and domain networks corresponding to the level hierarchical networks. And acquiring the current weight of each satellite in the domain network corresponding to the lowest level hierarchical network, and updating the historical routing information of each satellite to obtain the corresponding current routing information if the current weight is smaller than the historical weight of the last time. And further updating the routing information corresponding to the network at the upper level according to the current routing information if the current routing information of each satellite enables the variation of the routing information corresponding to the network at the upper level to be larger than or equal to a preset variation threshold. The method analyzes the low-orbit satellite network layer by layer, and can complete the rapid convergence of the large-scale low-orbit satellite network under the condition of limited satellite-borne computing resources.

Description

Route generation method, apparatus and storage medium

Technical Field

The present application relates to the field of satellite communications technologies, and in particular, to a method, an apparatus, and a storage medium for generating a route.

Background

The low-orbit satellite network is composed of a plurality of orbital planes and satellites uniformly distributed on the orbital planes, satellite networking is realized among the satellites through inter-satellite links (each satellite comprises two in-orbit links and two inter-orbit links which are respectively connected with front and rear satellite nodes in an orbit and neighbor satellite nodes of adjacent orbits), the problem that the ground station building is limited and network service cannot be provided is solved, and long-distance low-delay transmission can be provided. The routing technology is a basic technology for ensuring interconnection and intercommunication among all satellite nodes, and because the low-orbit satellite network is large in scale and the inter-satellite link state changes rapidly, but satellite-borne computing resources are limited, the traditional ground routing algorithm cannot be applied to the low-orbit satellite network at all.

Disclosure of Invention

In view of the above, it is desirable to provide a route generation method, apparatus, and storage medium that can be applied to low earth orbit satellite network communication.

In a first aspect, the present application provides a method for generating a route, where the method includes:

according to the first number of orbits in the low-orbit satellite network and the second number of satellites on each orbit, carrying out network hierarchical processing and network domain division processing on the low-orbit satellite network to obtain a plurality of level hierarchical networks and domain networks corresponding to the level hierarchical networks;

acquiring the current weight of each satellite in a domain network corresponding to the lowest-level hierarchical network according to preset time;

if the current weight less than the last historical weight exists, updating historical routing information of each satellite in a domain network corresponding to the lowest-level hierarchical network to obtain corresponding current routing information, wherein the historical routing information comprises the last historical weight;

if the current routing information of each satellite meets the triggering condition, updating the routing information corresponding to the upper-level hierarchical network of the lowest-level hierarchical network according to the current routing information of each satellite; the triggering condition is that the current routing information of the satellite enables the variation of the routing information corresponding to the network of the upper level to be larger than or equal to a preset variation threshold.

In one embodiment, the performing network classification processing and network domain division processing on the low-orbit satellite network according to a first number of orbits in the low-orbit satellite network and a second number of satellites in each orbit to obtain a plurality of level-level hierarchical networks and domain networks corresponding to the level-level hierarchical networks includes:

determining a first logarithm result according to the first quantity, and determining a second logarithm result according to the second quantity;

determining a plurality of levels of orbital dimension hierarchy networks according to the first logarithm result or a plurality of levels of satellite dimension hierarchy networks according to the second logarithm result, wherein the plurality of levels of hierarchy networks are the plurality of levels of orbital dimension hierarchy networks or the plurality of levels of satellite dimension hierarchy networks;

and determining each level hierarchical network and a domain network corresponding to each level hierarchical network according to the ratio of the first number to the second number.

In one embodiment, the determining, according to a ratio of the first number to the second number, each of the level hierarchical networks and a domain network corresponding to each of the level hierarchical networks includes:

if the absolute value of the difference between the ratio and 1 is less than or equal to a first preset difference, dividing the highest level hierarchical network into a domain network of four domains;

and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the obtained number of the orbits in the domain network of the four domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

In one embodiment, the determining, according to a ratio of the first number to the second number, a domain network corresponding to each of the orbit dimension hierarchical networks and a domain network corresponding to each of the satellite dimension hierarchical networks includes:

if the absolute value of the difference between the ratio and 2 is less than or equal to a second preset difference, dividing the highest level hierarchical network into two sub-domain networks;

and determining the domain network corresponding to the next level network of the highest level hierarchical network according to the obtained number of the orbits in the domain network of the two domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

In one embodiment, the determining, according to a ratio of the first number to the second number, a domain network corresponding to each orbit dimension hierarchical network and a domain network corresponding to each satellite dimension hierarchical network includes:

if the absolute value of the difference between the ratio and 3 is less than or equal to a third preset difference, dividing the highest level hierarchical network into a domain network with three domains;

and determining the domain network corresponding to the next level network of the highest level hierarchical network according to the obtained number of the orbits in the domain networks of the three domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

In one embodiment, the historical weight of the last time of the corresponding satellite is updated with a current weight less than the historical weight of the last time;

interacting first routing information between the satellite with the updated weight and the satellite without the updated weight to determine a first optimized weight of the satellite with the updated weight and the satellite without the updated weight;

and interacting second routing information among the satellites of which the weights are not updated to determine second optimized weights of the satellites of which the weights are not changed so as to obtain the current routing information.

In one embodiment, the updating the routing information corresponding to the network at the upper level hierarchy level according to the current routing information of each satellite includes:

determining third optimization weights corresponding to other satellites except the public satellite in the two domain networks according to the first optimization weight and/or the second optimization weight of the public satellite between the two adjacent domain networks, and sending the third optimization weights and the identification of the destination satellite of the other satellites to the other satellites, wherein the current routing information comprises the first optimization weight and/or the second optimization weight of the public satellite.

In one embodiment, the method further comprises:

and if the identification of the target satellite does not exist in the routing information of the other satellites, updating the third optimization weight to the routing information of the other satellites.

In one embodiment, the method further comprises:

and if the identification of the target satellite exists in the routing information of the other satellites and the third optimization weight is smaller than the weight corresponding to the identification of the target satellite existing in the routing information, replacing the weight corresponding to the identification of the target satellite with the third optimization weight.

In one embodiment, the obtaining the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network according to the preset duration includes:

acquiring inter-satellite link lengths among satellites in a domain network corresponding to the lowest-level hierarchical network according to preset time;

and if the variable quantity of the inter-satellite link length is greater than or equal to a preset variable quantity threshold value, taking the link length as the current weight of the corresponding satellite at the current time.

In a second aspect, the present application further provides a route generation apparatus, including:

the determining module is used for carrying out network hierarchical processing and network domain division processing on the low-orbit satellite network according to a first number of orbits in the low-orbit satellite network and a second number of satellites on each orbit to obtain a plurality of level hierarchical networks and domain networks corresponding to the level hierarchical networks;

the acquisition module is used for acquiring the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network according to the preset time length;

a first updating module, configured to update historical routing information of each satellite in a domain network corresponding to the lowest-level hierarchical network to obtain corresponding current routing information if a current weight smaller than a last historical weight exists, where the historical routing information includes the last historical weight;

the second updating module is used for updating the routing information corresponding to the upper level hierarchical network of the lowest level hierarchical network according to the current routing information of each satellite if the current routing information of each satellite meets the triggering condition; the triggering condition is that the current routing information of the satellite enables the variation of the routing information corresponding to the upper level network to be larger than or equal to a preset variation threshold.

In a third aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

if the current routing information of each satellite meets the triggering condition, updating the routing information corresponding to the upper level hierarchical network of the lowest level hierarchical network according to the current routing information of each satellite; the triggering condition is that the current routing information of the satellite enables the variation of the routing information corresponding to the upper level network to be larger than or equal to a preset variation threshold.

According to the route generation method, the route generation device and the storage medium, network classification processing and network domain division processing are carried out on the low-orbit satellite network according to the first number of orbits in the low-orbit satellite network and the second number of satellites on each orbit, and a plurality of level-level networks and domain networks corresponding to the level-level networks are obtained. And acquiring the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network, and updating the historical routing information of each satellite in the domain network corresponding to the lowest-level hierarchical network to obtain the corresponding current routing information if the current weight is smaller than the historical weight of the last time. Further, if the current routing information of each satellite meets the triggering condition, updating the routing information corresponding to the upper level hierarchical network of the lowest level hierarchical network according to the current routing information of each satellite; the triggering condition is that the current routing information of the satellite enables the variable quantity of the routing information corresponding to the network of the upper level to be larger than or equal to a preset variable quantity threshold value. The method divides the low earth orbit satellite network into different level networks and the domain networks corresponding to the level networks by carrying out layered domain division processing on the low earth orbit satellite network, and only needs to update the routing information of the domain network corresponding to the lowest level network after the routing information of each satellite in the low earth orbit satellite network is changed. If the routing information of the domain network corresponding to the lowest-level hierarchical network influences the upper-level hierarchical network of the lowest-level hierarchical network, the domain network of the upper-level hierarchical network of the lowest-level hierarchical network is updated and analyzed layer by layer, the routing information of the whole low-orbit satellite network is not required to be updated completely, and the rapid convergence of the large-scale low-orbit satellite network can be guaranteed under the condition that satellite-borne computing resources are limited.

Drawings

FIG. 1 is a diagram of an application environment of a route generation method in one embodiment;

FIG. 2 is a flow diagram illustrating a method for route generation in one embodiment;

FIG. 3 is a schematic diagram illustrating a hierarchical domain division of a low earth orbit satellite network in one embodiment;

FIG. 4 is a schematic diagram of route generation in one embodiment;

FIG. 5 is a schematic diagram of a hierarchical domain structure of a slanted orbit constellation according to an embodiment;

FIG. 6 is a diagram illustrating a hierarchical domain structure of polar orbit constellations in an embodiment;

FIG. 7 is a schematic diagram of a satellite port identification in one embodiment;

FIG. 8 is a schematic diagram illustrating a domain network self-healing of a four-point cycle motif in an embodiment;

FIG. 9 is a flow diagram illustrating the determination of current routing information in one embodiment;

FIG. 10 is a diagram illustrating a hierarchical domain identification for a low earth orbit satellite network in accordance with one embodiment;

FIG. 11 is a domain network route generation diagram in one embodiment;

FIG. 12 is a flow diagram illustrating the determination of routing information for neighboring domain networks in one embodiment;

FIG. 13 is a diagram illustrating network route generation for neighboring domains in one embodiment;

FIG. 14 is a schematic flow chart illustrating the process of determining the current weight of the current time of the satellite in one embodiment;

fig. 15 is a block diagram showing the configuration of a route generation device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The route generation method provided by the embodiment of the application can be applied to an application environment as shown in fig. 1, where the application environment includes satellites and inter-satellite links connecting the satellites. As shown in FIG. 1, node (x, y), node (x +1,y), node (x, y + 1), node (x +1, y + 1), etc. represent different satellites, respectively. Wherein, x in the nodes (x, y) represents the x-th orbit in the low-orbit satellite network, y represents the y-th satellite in each orbit, and the other nodes are the same. Therefore, the satellite (x, y) is connected with the satellite (x, y + 1) through the intra-orbit link, the satellite (x, y) is connected with the satellite (x +1,y) through the inter-orbit link, and low-orbit satellite networking is realized through the inter-satellite link among the satellites.

The low-orbit satellite network can be divided into a polar region orbit constellation and an inclined orbit constellation according to the constellation configuration, the orbit inclination angle of the polar region orbit constellation is close to 90 degrees, namely a stable inter-orbit link cannot be established due to the fact that a reverse seam exists between orbit planes through the upper air of the polar region, and when the satellite reaches the vicinity of the polar region, the satellite of the inter-orbit link generates high-speed relative motion, so that the inter-orbit link is broken. For example, the iridium satellite system is a typical polar orbit constellation. The inclined orbit constellation does not have reverse seams and does not pass through polar regions, so that regular link breakage is avoided, coverage of the polar regions cannot be realized, multiple coverage of the ground can be realized near high latitudes, and signal enhancement is realized. For example, the star chain (Starlink) that has begun to be deployed is representative of this type of constellation.

However, the low-earth satellite constellation moves around the earth at a high speed, which brings about dynamic changes of a network topology structure and frequent switching of inter-satellite links, and regular inter-satellite link breakage and sudden inter-satellite link failure both affect the network topology structure. The time-varying network characteristics of the low-orbit satellite network are mainly shown in that the orbit speed of the low-orbit satellite network is as high as 7.2 km/s, the network topology structure is frequently changed, the links in the orbit are relatively stable, the links between the orbits are dynamically changed, the satellites on two sides of the backstitches move relatively at high speed, connection cannot be established, and the time-varying network needs to be decomposed and converted into a time-invariant network; the limitation of satellite-borne computing resources also makes a large-scale satellite network difficult to converge quickly, network bandwidth resources are consumed for verification of a large amount of link state information transmitted by the network, and the traditional ground routing algorithm cannot be applied to a low-earth-orbit satellite network at all. Therefore, the present application proposes a method, an apparatus, and a storage medium for generating a route to solve the above technical problem.

In one embodiment, as shown in fig. 2, a route generation method is provided, which is described by taking the example that the method is applied to the satellite in fig. 1, and includes the following steps:

s201, according to the first number of the orbits in the low-orbit satellite network and the second number of the satellites on each orbit, network grading processing and network domain division processing are carried out on the low-orbit satellite network, and a plurality of level hierarchical networks and domain networks corresponding to the level hierarchical networks are obtained.

In this embodiment, the low earth orbit satellite network is divided into a plurality of level hierarchical networks and domain networks corresponding to the level hierarchical networks, each level hierarchical network includes a plurality of domain networks, each level hierarchical network includes all satellites, and each satellite belongs to one domain network of each level hierarchical network. Wherein, the normal satellite comprises four inter-satellite links which are respectively connected with four satellites in an in-orbit forward direction, an in-orbit backward direction, an in-orbit forward direction and an in-orbit backward direction.

In this embodiment, when performing network classification processing on the low-earth orbit satellite network, logarithmic calculation may be performed on the first number of orbits in the low-earth orbit satellite network and the second number of satellites in each orbit, and a plurality of hierarchical networks may be determined according to the obtained logarithmic result.

In this embodiment, when performing network classification processing on the low-earth-orbit satellite network, according to the first number of orbits in the low-earth-orbit satellite network and the second number of satellites in each orbit, the domain network corresponding to the highest-level hierarchical network can be obtained by applying a bisection method to a large number of orbits according to the magnitudes of the first number and the second number. And further obtaining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network by adopting a bisection method for the maximum value of the number of the orbits and the number of the satellites on each orbit according to the number of the orbits in the domain network corresponding to the highest level hierarchical network and the number of the satellites on each orbit, and so on, thereby obtaining the domain networks corresponding to the different level hierarchical networks. The total number of all satellites in the domain networks corresponding to the different-level hierarchical networks can be determined according to the first number of the orbits in the low-orbit satellite network and the second number of the satellites in each orbit, and the total number of all satellites in the domain networks corresponding to the different-level hierarchical networks is divided according to different proportions, so that the domain networks corresponding to the different-level hierarchical networks are obtained.

S202, according to the preset time length, the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network is obtained.

In this embodiment, the length of the inter-satellite link of each satellite in the domain network corresponding to the lowest-level hierarchical network may be obtained in real time according to a preset duration, and when the length of the inter-satellite link reaches the preset inter-satellite link length, the length of the inter-satellite link of each satellite is used as the current weight of each satellite at the current time. The length of the inter-satellite link of each satellite in the domain network corresponding to the lowest-level hierarchical network may also be periodically obtained, and the length of the inter-satellite link of each satellite is used as the current weight of each satellite at the current time.

And S203, if the current weight smaller than the last historical weight exists, updating the historical routing information of each satellite in the domain network corresponding to the lowest-level hierarchical network to obtain the corresponding current routing information, wherein the historical routing information comprises the last historical weight.

In this embodiment, the routing information includes the satellite, the destination satellite, and the weight of the satellite to the destination satellite. And if the current weight is smaller than the last historical weight, updating the corresponding historical weight to obtain the current routing information of each satellite. For example, the domain network includes satellite a, satellite B, satellite C, and satellite D. The historical routing information of the satellite A comprises a historical weight 0 from the satellite A to the target satellite A, a historical weight 1.2 from the satellite A to the target satellite B, a historical weight 1 from the satellite A to the target satellite C, and a historical weight 1 from the satellite A to the target satellite D. Candidate weights for satellite a are AA =0, AB =1.2, AC =0.8, and AD =1, and the candidate routing information for satellite a is candidate weight 0 for satellite a to destination satellite a, candidate weight 1.2 for satellite a to destination satellite B, candidate weight 0.8 for satellite a to destination satellite C, and candidate weight 1 for satellite a to destination satellite D.

In the present embodiment, the same method is similarly applied to the satellite B, the satellite C, and the satellite D to obtain the corresponding candidate routing information. And taking the candidate routing information corresponding to each satellite as the current routing information corresponding to each satellite. Furthermore, the weight of the satellite with changed routing information can be synchronized to other satellites according to the candidate routing information of each satellite, so that the current routing information of each satellite is obtained, and the convergence of the domain network is completed.

S204, if the current routing information of each satellite meets the trigger condition, updating the routing information corresponding to the upper-level hierarchical network of the lowest-level hierarchical network according to the current routing information of each satellite; the triggering condition is that the current routing information of the satellite enables the variable quantity of the routing information corresponding to the network of the upper level to be larger than or equal to a preset variable quantity threshold value.

In this embodiment, when the domain network completes convergence and the routing information of the domain network changes, the current routing information of each satellite of the domain network affects the weight corresponding to the previous level network of the lowest level network (that is, the current routing information of each satellite satisfies the trigger condition), as shown in fig. 3, assuming that the preset variation threshold is 0.2, when the Motif (E) and Motif (S) domain networks complete convergence, since the weight of the ES inter-satellite link changes after the Motif (E) domain network converges, the weight of the BE inter-satellite link is compared with the previous time, and the weight variation is greater than or equal to the preset variation threshold, the routing information corresponding to the previous level network of the lowest level network needs to BE updated according to the current routing information of each satellite.

In this embodiment, if the upper-level hierarchical network of the lowest-level hierarchical network is formed by two adjacent domain networks, the routing information corresponding to the upper-level hierarchical network may be updated according to the current routing information of each satellite after the two domain networks converge, respectively. If the upper-level hierarchical network of the lowest-level hierarchical network is composed of four adjacent domain networks as shown in fig. 3, after the four domain networks are respectively converged, convergence of two domain networks of Motif (E) and Motif (S), convergence of two domain networks of Motif (E) and Motif (F), convergence of two domain networks of Motif (F) and Motif (G), and convergence of two domain networks of Motif (G) and Motif (S) can be completed according to the current routing information of each satellite.

Further, if the current routing information of each satellite does not affect the weight corresponding to the previous level hierarchical network of the lowest level hierarchical network, the weight corresponding to the previous level hierarchical network of the lowest level hierarchical network does not need to be continuously updated. For example, the first level hierarchical network is a highest level hierarchical network, the second level hierarchical network is a next level hierarchical network of the highest level hierarchical network, and the third level hierarchical network is a lowest level hierarchical network. If the current routing information of each satellite in the domain network of the third-level network does not affect the corresponding weight of the second-level network, the weight information of the second-level network does not need to be updated.

It should be noted that, in the present application, the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network is obtained according to the preset duration, and the corresponding technical solutions of S203 and S204 are further executed according to the current weight. And when the starting time of the next preset time length is reached, the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network is obtained again, and the technical schemes corresponding to S203 and S204 are continuously executed.

In the route generation method, network classification processing and network domain division processing are carried out on the low-orbit satellite network according to the first number of orbits in the low-orbit satellite network and the second number of satellites on each orbit, and a plurality of level hierarchical networks and domain networks corresponding to the level hierarchical networks are obtained. And acquiring the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network, and updating the historical routing information of each satellite in the domain network corresponding to the lowest-level hierarchical network to obtain the corresponding current routing information if the current weight is smaller than the historical weight of the last time. Further, if the current routing information of each satellite meets the triggering condition, updating the routing information corresponding to the upper level hierarchical network of the lowest level hierarchical network according to the current routing information of each satellite; the triggering condition is that the current routing information of the satellite enables the variable quantity of the routing information corresponding to the network of the upper level to be larger than or equal to a preset variable quantity threshold value. The method divides the low earth orbit satellite network into different level networks and the domain networks corresponding to the level networks by carrying out layered domain division processing on the low earth orbit satellite network, and only needs to update the routing information of the domain network corresponding to the lowest level network after the routing information of each satellite in the low earth orbit satellite network is changed. If the routing information of the domain network corresponding to the lowest-level hierarchical network influences the upper-level hierarchical network of the lowest-level hierarchical network, the domain network of the upper-level hierarchical network of the lowest-level hierarchical network is updated and analyzed layer by layer, the routing information of the whole low-orbit satellite network is not required to be updated completely, and the rapid convergence of the large-scale low-orbit satellite network can be guaranteed under the condition that satellite-borne computing resources are limited.

Fig. 4 is a schematic flow chart of layering and domain-dividing of a low-earth orbit satellite network in an embodiment, as shown in fig. 4, how to perform network layering processing and network domain-dividing processing on each low-earth orbit satellite network according to a first number of orbits in the low-earth orbit satellite network and a second number of satellites located on each orbit to obtain a plurality of level-level networks and a possible implementation manner of domain networks corresponding to the level-level networks in the embodiment of the present application, where S201 may include the following steps:

s401, determining a first logarithm result according to the first quantity, and determining a second logarithm result according to the second quantity.

In this embodiment, the first logarithm result may be obtained with the first number of tracks as a true number with a base of 2, or the first logarithm result may be obtained with the first number of tracks as a true number with a base of 10. Similarly, when determining the second logarithm result according to the second number, taking the second number as a true number to obtain a corresponding second logarithm result. For example, if the first number is 16, the second number is 8, and the base number is 2, then the first logarithm results in a value of 16

The second logarithmic result is

。

S402, determining a plurality of levels of orbit dimension hierarchical networks according to the first logarithm result, or determining a plurality of levels of satellite dimension hierarchical networks according to the second logarithm result, wherein the plurality of levels of satellite dimension hierarchical networks are a plurality of levels of orbit dimension hierarchical networks or a plurality of levels of satellite dimension hierarchical networks.

In this embodiment, the multiple level orbit dimension hierarchical networks may be determined according to the first logarithm result or a supremum of the first logarithm result, when the first logarithm result is an integer, the multiple level orbit dimension hierarchical networks are determined directly according to the first logarithm result, and if the first logarithm result is a non-integer, the first logarithm result is rounded up, and the multiple level orbit dimension hierarchical networks are determined. As shown in fig. 5, for the inclined orbit constellation, since the number of orbits is 16, it can be divided into 4 levels of orbit dimension hierarchical network. The black thick solid lines are a first-level (highest-level) rail dimensional hierarchical network, the black thick dotted lines are a second-level (next-level of the highest level) rail dimensional hierarchical network, the black thin solid lines are a third-level (last-level of the lowest level) rail dimensional hierarchical network, and the black thin dotted lines are a fourth-level (lowest-level) rail dimensional hierarchical network; since the number of satellites in each orbit is 8, a hierarchy of networks is a dimension of multiple levels of satellites. The black thick dotted line is a first-level (highest-level) satellite dimension hierarchical network, the black thin dotted line is a second-level (next to the highest-level) satellite dimension hierarchical network, and the black thin dotted line is a third-level (lowest-level) satellite dimension hierarchical network. As shown in fig. 6, for polar orbit constellations, since the number of orbits is 6, it can be divided into 3 levels of orbital dimension hierarchy network. The black thick dotted line is a first-level (highest-level) rail dimension hierarchical network, the black thin solid line is a second-level (next-level to the highest-level) rail dimension hierarchical network, and the black thin dotted line is a third-level (lowest-level) rail dimension hierarchical network. Since the number of satellites in each orbit is 11, the satellite dimension level network can be divided into 4 levels. The black thick solid line is a satellite dimension hierarchical network of a first level (highest level), the black thick dotted line is a satellite dimension hierarchical network of a second level (next level of the highest level), the black thin solid line is a satellite dimension hierarchical network of a third level (previous level of the lowest level), and the black thin dotted line is a satellite dimension hierarchical network of a fourth level (lowest level).

And S403, determining each level of hierarchical network and the domain network corresponding to each level of hierarchical network according to the ratio of the first quantity to the second quantity.

In this embodiment, a ratio of the first number to the second number may be compared with 1, and if the ratio is greater than 1, the number of orbits of the low-earth satellite network is divided to obtain the domain network of the highest-level hierarchical network. And if the ratio is less than 1, dividing the number of the low orbit satellite network satellites to obtain the domain network of the highest level hierarchical network.

Specifically, "S403" determines each level of hierarchical network and the domain network corresponding to each level of hierarchical network according to a ratio between the first number and the second number. "can be realized in three ways:

the first mode is as follows: if the absolute value of the difference between the ratio and 1 is less than or equal to a first preset difference, dividing the highest level hierarchical network into a domain network of four domains; and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the number of the orbits in the obtained four-domain network and the number of satellites on each orbit until the domain network of the four-point cycle motif is obtained.

The domain network of the four-point cyclic motif is a closed-loop structure formed by four satellites and four inter-satellite links interconnected in pairs, for example, the satellite (x, y), the satellite (x +1,y), the satellite (x, y + 1), the satellite (x +1, y + 1), and the inter-orbit link and the intra-orbit link connecting any two satellites form the domain network of the four-point cyclic motif in fig. 1.

In general, any one satellite belongs to four different domain networks of four-point cycle motifs, and any one inter-satellite link belongs to two different domain networks of four-point cycle motifs. The domain network identification of the four-point cycle Motif is carried out by using the last satellite in the domain network movement direction of the four-point cycle Motif, as shown in fig. 7, because the satellite moves upwards and orbits rightwards, the network Motif formed by the satellites C, D, E and S and the inter-satellite links is identified by using the satellite E, which is denoted as Motif (E); the domain network motion direction of the four-point cycle mold body not only refers to the orbital plane reverse motion direction caused by the rotation of the earth, but also refers to the motion direction of the satellite around the orbital plane.

The domain network of the four-point cycle motif has stability, closure, completeness, self-healing and tropism. The stability means that the relative relation of the lengths of four intersatellite links of a four-point closed-loop die body moving between high and low latitudes is kept unchanged; according to the calculation formula of the intra-orbit link and the calculation formula of the inter-orbit link, the length of the inter-orbit link at the high latitude is smaller than that of the inter-orbit link at the low latitude, and the length of the intra-orbit link is basically kept unchanged, so that the domain network structure of the four-point cyclic motif moving between the high latitude and the low latitude is in a stable state. The closed performance means that the domain network of the four-point cycle motif is a closed network, two routes exist between any two satellites, and when a link between the satellites breaks down, a backup route can be always found in the domain network of the four-point cycle motif. The completeness means that all satellites and inter-satellite links in the low-orbit satellite network belong to a certain motif, and the union of the satellites and the inter-satellite links in all the motifs is a complete low-orbit satellite network. As shown in fig. 8, self-healing means that a backup route can be found in a motif to which an inter-satellite link belongs when any inter-satellite link fails, and the failed inter-satellite link is replaced. Trending means that the shorter inter-track links in the four-point cyclic pattern always point in the high latitude direction.

Optionally, the first preset difference may be 0.2, 0.1, and the like, which is not limited in this embodiment of the application.

In this embodiment, taking the first preset difference as 0.2 as an example, the ratio between the first number and the second number may be within an interval of 0.8 to 1.2, and at this time, the number of orbits in the highest-level hierarchical network and the number of satellites in each orbit are considered to be equal, and the number of orbits and the number of satellites may be divided into two domains, that is, the highest-level hierarchical network is divided into a domain network of four domains.

In this embodiment, a ratio between the number of orbits in the domain network of the four-domain and the number of satellites in each orbit is further determined, so as to determine a domain network corresponding to a lower-level hierarchical network of the highest-level hierarchical network. And if the number of the orbits in the domain network corresponding to the next level network of the highest level network is almost consistent with the number of the satellites on each orbit, dividing the orbit number and the satellite number into two domains respectively until the domain network of the four-point cycle motif is obtained.

The second mode is as follows: if the absolute value of the difference between the ratio and 2 is less than or equal to a second preset difference, dividing the highest level hierarchical network into two sub-domain networks; and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the number of the orbits in the obtained domain network of the two domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

Optionally, the second preset difference may be 0.2, 0.1, and the like, which is not limited in this embodiment of the application.

In this embodiment, taking the second predetermined difference as 0.3 as an example, the ratio between the first quantity and the second quantity may be within a range from 1.7 to 2.3. In this case, the number of orbits may be about 2 times the number of satellites in each orbit, or the number of satellites in each orbit may be about 2 times the number of orbits. If the number of orbits is about 2 times of the number of satellites in each orbit, the number of orbits can be divided into 2 domains, and the number of satellites is not divided into domains. As shown in fig. 5, the number of orbits is 16, the number of satellites in each orbit is 8, and the high-level hierarchical network can be divided into two domains each including 8 orbits and each orbit including 8 satellites. If the number of satellites in each orbit is about 2 times of the number of orbits, the number of satellites may be divided into 2 domains, and the number of orbits is not divided into two domains, as shown in fig. 6, where the number of orbits is 6, and the number of satellites in each orbit is 11, and the high-level hierarchical network may be divided into two domains, each of which includes 6 orbits, each of which includes 7 satellites and 6 orbits, and each of which includes 6 satellites.

In this embodiment, the highest-level hierarchy is divided into domain networks of two domains by using the first number and the second number, and the domain networks of two domains are further divided according to the number of orbits in the obtained domain networks of two domains and the number of satellites on each orbit. As shown in fig. 5, the first-level hierarchical network is used as the highest-level hierarchical network, the second-level hierarchical network is the next-level hierarchical network of the highest-level hierarchical network, and so on. If the number of orbits in the domain network of the second level is approximately the same as the number of satellites in each orbit (i.e., the difference between the ratio and 1 is less than or equal to the first preset difference), each domain network of the second level is divided into domain networks of 4 levels, i.e., the second level (solid black lines) level network includes 8 domains. According to the number of orbits in the domain network of 8 domains and the number of satellites on each orbit, and the number of orbits in the domain network of 8 domains and the number of satellites on each orbit are approximately the same (namely, the difference between the ratio and 1 is less than or equal to a first preset difference), each domain network of 8 domains is divided into domain networks of 4 domains, namely, the third-level (black thin solid line) level network comprises 32 domains, until the domain network of the fourth-level (black thin dotted line) level network is obtained, and the total number of the domain networks of 128 four-point cycle motifs is calculated.

The third mode is as follows: if the absolute value of the difference between the ratio and 3 is less than or equal to a third preset difference, dividing the highest level hierarchical network into a domain network with three domains; and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the number of the orbits in the three-domain network and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

Optionally, the third preset difference may be 0.2, 0.1, and the like, which is not limited in this embodiment of the application. The first preset threshold, the second preset threshold and the third preset threshold may be the same or different.

In this embodiment, taking the first predetermined difference as 0.2 as an example, the ratio of the first number to the second number may be within an interval of 0.8 to 1.2, and at this time, the number of orbits may be about 3 times the number of satellites in each orbit, or the number of satellites in each orbit may be about 3 times the number of orbits. If the number of orbits is about 3 times the number of satellites in each orbit, the number of orbits can be divided into 3 domains, and the number of satellites is not divided into domains. The specific domain division method can be seen in the second mode.

Combining the above three manners, the network domain division processing is performed on the low orbit satellite network shown in fig. 6. Or the first-level hierarchical network is used as the highest-level hierarchical network, the second-level hierarchical network is the next-level hierarchical network of the highest-level hierarchical network, and so on. The first level (black thick dotted line) hierarchical network divides the number of satellites to obtain a domain network of two domains. The second level (solid black line) hierarchical network includes 8 domain networks, and the third level (solid black line) hierarchical network includes 21 domain networks. Because part of the domain networks in the third-level hierarchical network are domain networks of four-point cycle motifs, the domain networks in which the four-point cycle motifs have not been obtained in the third-level hierarchical network are hierarchically divided to obtain a fourth-level (black thin dotted line) hierarchical network, the fourth-level hierarchical network totally comprises 66 domain networks, and all the 66 domain networks are domain networks of the four-point cycle motifs.

It should be noted that, when the ratio is located between any two of the above three modes, any one of the modes is taken to be executed. For example, when the ratio is 1.5, it may be performed in any one of the first manner and the second manner.

Further, the above domain network division may also be understood as that, the first number of orbits and the second number of satellites in each orbit may be divided into the same order of magnitude (2,4,8, 16, 32, 64.), and assuming that the first number is 72, the second number is 22, and the second number is between 16 and 32, the first number is also divided into 16 to 32 (72/3 = 24), and then 24 and 22 are divided until the domain network of the four-point cycle phantom is obtained.

In the embodiment of the application, a plurality of levels of orbit dimension hierarchical networks or a plurality of levels of satellite dimension hierarchical networks are determined according to the first quantity and the second quantity, and each level of hierarchical network and a domain network corresponding to each level of hierarchical network are further determined according to the ratio between the first quantity and the second quantity. In the method, the layering and domain division processing is carried out on the large-scale low-orbit satellite network until the domain network of the four-point cycle mold body is obtained, and an important foundation is laid for the subsequent quick convergence of the low-orbit satellite network.

Fig. 9 is a schematic flow diagram illustrating a process of determining current routing information in an embodiment, and as shown in fig. 9, the embodiment of the present application relates to a possible implementation manner of how to update historical routing information of each satellite in a domain network corresponding to a lowest-level hierarchical network to obtain corresponding current routing information, where the updating of the historical routing information of each satellite in the domain network corresponding to the lowest-level hierarchical network in S203 to obtain corresponding current routing information may include the following steps:

and S901, updating the last historical weight of the corresponding satellite by using the current weight which is smaller than the last historical weight.

In this embodiment, as shown in fig. 10, the hierarchical and domain-divided identification method performs identification in a layer-by-layer (different levels) and segmentation manner, each segmentation identifies a domain network of a certain level network, a global identification of any domain network requires a common identification of an identification field of the local domain network and a field of a higher level network, an identification of a domain network of a first level network is only identified by an identification field of a domain network of a first level network, an identification of a domain network of a second level network requires identification fields of the domain networks of the first level network and the second level network, and so on. The domain network of the four-point cycle motif is a basic unit for carrying out hierarchical domain division. In this embodiment, the orbit and the satellite may be numbered, the orbit number is first converted into a binary form, and different bit combinations of the binary of the orbit number and the in-orbit satellite number are selected to identify the domain network and the satellite of the network at different levels and levels. For a tilted orbit constellation as shown in fig. 4 above, the constellation includes 16 orbits, each orbit includes 8 satellites, the first level is divided into two domains by the number of orbits, and there is no domain by the number of satellites, so m1=0 or m1=1, n1=0, and the set of domain networks of the first level network can be represented as {00, 10}. In turn, the set of domain networks of the second level hierarchical network may be represented as: {0000, 0001, 0010, 0011, 1000, 1001, 1010, 1011}, the set of domain networks of the third level network can be represented as: {000000, 000001, 000010, 000011, 000100, 000101, 000110, 000111, 001000, 001001, 001010, 001011, 001100, 001101, 001110, 001111, 100000, 100001, 100010, 100011, 100100, 100101, 100110, 100111, 101000, 101001, 101010, 101011, 101100, 101101, 101110, 101111}. The set of domain networks of the fourth level hierarchical network may be represented as: {00000000, 00000001, 00000010, 00000011,......,10111100, 10111101, 10111110, 10111111}.

For a polar orbit constellation as shown in fig. 6 above, which contains 5 orbits and 11 satellites per orbit, the first level hierarchical network is divided into two sub-domains based on the number of satellites, and is not divided based on the number of orbits. Thus m1=0, n1=0 or n1=1. The set of domain networks of the first level hierarchy network may be denoted as 00, 01. In turn, the set of domain networks of the second level hierarchical network may be represented as: {0000, 0001, 0010, 0011, 0100, 0101, 0110, 0111}, the set of domain networks of the third level hierarchical network can be expressed as: {000000, 000001, 000010, 000011, 000100, 000101, 000110, 000111, 001000, 001100, 010000, 010001, 010010, 010011, 010100, 010101, 011000, 011010, 011100}. The set of domain networks of the fourth level hierarchical network may be represented as: {00000000, 00000001, 00000010, 00000011,......,01110000, 01110001, 01110010, 01110011}.

In this embodiment, the adjacent satellites establish connection and exchange satellite identifiers, and whether the connected satellites are physical neighbor satellites is determined according to the received satellite identifiers. If the satellite is a physical neighbor satellite, the adjacent satellites establish connection to start communication; otherwise, the correct physical neighbor satellite is continuously searched.

And calculating the inter-satellite link length between the communicated adjacent satellites, and taking the link length as the current weight of each satellite when the inter-satellite link length reaches a preset value. As shown in fig. 11, assuming that the inter-satellite links CS, CD and DE have successfully established connections and generated routing information, the inter-satellite link weights are CD =0.9, es =1.1, DE =1.0, CS =1.0, respectively, and the routing information of the available satellites S, C, D and E is shown in the following tables 1 to 4:

and when the satellite E and the satellite S start to establish connection and communicate, calculating the length of the inter-satellite link ES, and respectively generating a route ES =1.1 to the opposite end by the satellite E and the satellite S. At this time, new routing information (5, 6, 7, 8) is added to each of the satellite C, the satellite D, the satellite E, and the satellite S. The results of adding routing information to satellite E are shown in table 5:

for satellite E, when the same destination satellite is reached, there are two pieces of routing information, the minimum weight is selected as the routing information of the destination satellite of satellite E, and the combined routing information of satellite E is shown in table 6:

similarly, the results of adding routing information to satellite S are shown in table 7:

for satellite S, the route information of the merged satellite S is shown in table 8:

similarly, new routing information is added to the satellite C and the satellite D, and then merged, because the routing information after merging the satellite C and the satellite D is not changed from the previous historical weight, which is not described herein again.

S902, interacting first routing information between the satellite with the updated weight and the satellite without the updated weight to determine a first optimized weight of the satellite with the updated weight and the satellite without the updated weight.

In this embodiment, as can be seen from the foregoing step S901, the satellites whose weights are updated are the satellite E and the satellite S, the satellites whose weights are not updated are the satellite C and the satellite D, and the first routing information is exchanged between the satellites whose weights are updated and the satellites whose weights are not updated. Therefore, satellite D and satellite E interact with each other for the first routing information, and satellite C and satellite S interact with each other for the first routing information. The routing tables after the satellite D and the satellite E add the first routing information respectively are shown in tables 9 and 10:

the routing information for satellite E and satellite D are merged, respectively, and the results are shown in tables 11 and 12:

similarly, the routing tables after the satellite C and the satellite S add the first routing information are shown in table 13 and table 14:

the routing information for satellite C and satellite S are merged, respectively, and the results are shown in tables 15 and 16:

and S903, interacting second routing information among the satellites with the weights not updated to determine second optimized weights of the satellites with the weights not changed so as to obtain current routing information.

In this embodiment, the second routing information is exchanged between the satellites whose weights are not updated, so that the second routing information is exchanged between the satellite C (table 15) and the satellite D (table 16), and the result of adding the second routing information by the satellite C and the satellite D is shown in the following tables 17 and 18:

the routing information of satellite C and satellite D are merged and the optimal weight to the destination satellite is selected, the results are shown in tables 19 and 20 below:

through the interaction among the satellites, the synchronization of the routing information of the satellites in the domain network corresponding to the lowest-level hierarchical network (namely the domain network of the four-point cycle motif) is completed. Because the weights from the satellite C and the satellite D to the target satellite are on the optimal path, the interaction between the satellite D and the satellite E, the interaction between the satellite E and the satellite S, and the interaction between the satellite C and the satellite D do not affect the routing information of the satellite in the domain network corresponding to the lowest-level hierarchical network.

In the embodiment of the application, the current weight smaller than the historical weight of the last time is adopted to update the candidate historical weight of the corresponding satellite of the last time, the first routing information is interacted between the satellite with the updated weight and the satellite without the updated weight to determine the first optimized weight of the satellite with the updated weight and the satellite without the updated weight, and the second routing information is interacted between the satellites without the updated weight to determine the second optimized weight of the satellite without the changed weight to obtain the current routing information. The method controls the influence of the change of the length of the inter-satellite link in a range as small as possible, effectively reduces the influence of the change of the inter-satellite link on the whole network, and realizes the rapid convergence of the low-orbit satellite network by utilizing the self-healing performance of the domain network of the four-point cycle motif.

Fig. 12 is a schematic flowchart illustrating a process of determining routing information of a neighboring area network in an embodiment, as shown in fig. 12, the embodiment of the present application relates to a possible implementation manner of how to update routing information corresponding to a network at a higher hierarchy level according to current routing information of each satellite, where the foregoing S204 includes the following steps:

s1201, according to the first optimization weight and/or the second optimization weight of the public satellite between two adjacent domain networks, determining third optimization weights corresponding to other satellites except the public satellite in the two domain networks, and sending the third optimization weights and the identification of the target satellite of the other satellite to the other satellite, wherein the current routing information comprises the first optimization weight and/or the second optimization weight of the public satellite.

In this embodiment, the route generation method for two adjacent domain networks is a process of calculating an affected inter-satellite link and reselecting a new path by a satellite common to the adjacent domain networks when an intra-domain route changes, calculating a minimum weight (third optimization weight) between other satellites by a satellite common to the adjacent domain networks, and sending the calculated minimum weight to the other satellites. If the satellite belongs to a public satellite of a plurality of hierarchical networks at the same time, the satellite is only used as the public satellite of the highest hierarchical network, and the routing calculation of adjacent domain networks is not carried out between the domain networks of the lower hierarchical networks.

Specifically, after the adjacent domain networks complete the routing convergence, the routing convergence of the higher-level hierarchical network is triggered, and the routing convergence process of the higher-level hierarchical network is the same as the domain network convergence process. As shown in fig. 13, assume that the weight of each satellite is as follows: DE =1.0, cs =1.0, ab =1.0, cd =0.9, bc =0.8, as =1.0, es =1.1. In order to facilitate the routing information calculation between domain networks, the public satellite routing information in Motif (S) and Motif (E) is split, and after both Motif (E) and Motif (S) complete convergence, the routing information of the satellite in Motif (S) is shown in the following table 21-table 24:

the routing information for the satellites of Motif (E) is shown in tables 25-28 below:

first, the satellite S calculates the weight between the satellites of the two adjacent domain networks, and since the satellite S and the satellite C belong to a common satellite, no calculation is performed.

Satellite S calculates the third optimized weight between satellite A and satellite D to be 1.0+1.9=2.9, sends the identifier of satellite D and 2.9 to satellite A, and sends the identifier of satellite A and 2.9 to satellite D; the satellite S calculates that the third optimization weight between the satellite A and the satellite E is 1.0+1.1=2.1, the identifier of the satellite E and 2.1 are sent to the satellite A, and the identifier of the satellite A and 2.1 are sent to the satellite E; satellite S calculates the third optimization weight between satellite B and satellite D to be 1.8+1.9=3.7, sends the identification of satellite D and 3.7 to satellite B, and sends the identification of satellite B and 3.7 to satellite D; satellite S calculates a third optimization weight between satellite B and satellite E of 1.0+1.9=2.9, transmits the identification of satellite E and 2.9 to satellite B, and transmits the identification of satellite B and 2.9 to satellite E.

Satellite C calculates a third optimal weight between satellite a and satellite D of 1.8+0.9=2.7, transmits the identification sum of satellite D of 2.7 to satellite a, and transmits the identification sum of satellite a of 2.7 to satellite D; satellite C calculates the third optimization weight between satellite A and satellite E to be 1.8+1.9=3.7, sends the identification sum of satellite E to satellite A and the identification sum of satellite A to 3.7 to satellite E; satellite C calculates a third optimal weight between satellite B and satellite D of 0.8+0.9=1.7, transmits the identification sum of satellite D of 1.7 to B, and transmits the identification sum of satellite B of 1.7 to satellite D; satellite C calculates a third optimization weight between satellite B and satellite E of 0.8+1.9=2.7, transmits the identification of satellite E and 2.7 to satellite B, and transmits the identification of satellite B and 2.7 to satellite E.

And S1202, if the identification of the target satellite does not exist in the routing information of other satellites, updating the third optimization weight into the routing information of other satellites.

In this embodiment, after other satellites in the domain network receive the third optimization weight sent by the public satellite and the identifiers of the destination satellites of the other satellites, whether the destination satellites corresponding to the satellite exist in the routing information of the other satellites is checked according to the identifiers of the destination satellites, and if the destination satellites do not exist, the identifiers of the destination satellites and the third optimization weight are added to the routing information.

On the basis of the above embodiment, after the satellite a, the satellite B, the satellite D, and the satellite E receive the third optimization weight and the identification of the destination satellite transmitted from the satellite S, since the satellite a and the satellite B do not reach the route of the destination satellite D and the destination satellite E, and the satellite D and the satellite E do not reach the route of the destination satellite a and the destination satellite B, the route information is newly added to the four satellites respectively. Wherein, the destination satellite is the received satellite identification, the next hop is the next hop to the public satellite, the weight is the received third optimized weight, and the new routing information of the satellite A, the satellite B, the satellite D and the satellite E is updated as shown in the following table 29-table 32:

and S1203, if the identification of the target satellite exists in the routing information of the other satellites, and the third optimization weight is smaller than the weight corresponding to the identification of the target satellite existing in the routing information, replacing the weight corresponding to the identification of the target satellite with the third optimization weight.

Similarly, when the identifier of the target satellite and the third optimization weight sent by the public satellite C are received, since the identifier of the target satellite already exists in the satellites a, B, D, and E, the received third optimization weight needs to be compared with the weight corresponding to the identifier of the target satellite already existing in the satellites, and the smallest weight of the received third optimization weight and the weight corresponding to the identifier of the target satellite already existing in the satellites is selected as the weight between the other satellites and the target satellite. The routing information adjustment of the satellite A, the satellite B, the satellite D and the satellite E is carried out in two steps of adding routing information and combining the routing information, wherein the adding routing information of the satellite A, the satellite B, the satellite D and the satellite E is shown in a table 33-a table 36:

the routing information for satellite a, satellite B, satellite D, and satellite E after combining is shown in tables 37-40 below:

in the embodiment of the application, according to the first optimization weight and/or the second optimization weight of the public satellite between two adjacent domain networks, the third optimization weights of other satellites except the public satellite in the two domain networks are determined, the third optimization weights and the identification of the target satellite of the other satellites are sent to the other satellites, whether the identification of the target satellite exists in the routing information of the other satellites is further judged, and therefore the optimal weights are selected to achieve convergence of the adjacent domain networks. According to the method, after two adjacent domain networks are converged, routing information of the network at the upper level is changed, and the network is expanded layer by layer and domain by domain, so that the influence of inter-satellite links on the whole low-orbit satellite network is reduced, only part of low-orbit satellites are involved, the calculation speed is high, and quick response can be made to the change in the low-orbit satellite network.

Fig. 14 is a schematic flowchart of determining a current weight of a current time of a satellite in an embodiment, and as shown in fig. 14, the embodiment of the present application relates to a possible implementation manner of how to determine the current weight of the current time of the satellite according to an inter-satellite link length, including the following steps:

s1401, according to the preset duration, the inter-satellite link length between each satellite in the domain network corresponding to the lowest level hierarchical network is obtained.

In this embodiment, according to a preset duration, the link length between satellites in the domain network corresponding to the lowest-level hierarchical network is calculated according to a preset formula, where the in-orbit link distance calculation formula is as follows:

in the above formula, D _PQ Represents the link length between satellite P and satellite Q; r represents the distance from the center of the earth to the satellite; c represents the cosine of the geocentric angle POQ, O is the geocentric; lat _P Represents the latitude of the satellite P; lat _Q Represents the latitude of the satellite Q; alpha represents the track inclination; u0 represents the initial phase angle of the satellite; deltafRepresenting the phase difference between satellites in orbit; beta represents the relative difference in longitude of satellites P and Q; γ represents the absolute difference in longitude of satellite P and satellite Q; ζ (u 0) represents a longitude difference corresponding to the satellite phase angle.

The inter-track link distance calculation formula is as follows:

wherein, in the above formula, p represents the phase offset of adjacent satellites in adjacent orbits; f represents a phase factor;

representing the phase difference of adjacent track planes.

And S1402, if the variable quantity of the inter-satellite link length is larger than or equal to a preset variable quantity threshold value, taking the inter-satellite link length as the current weight of the corresponding satellite at the current time.

In this embodiment, the preset variation threshold is 0, such as 0.2, 0.1, etc., which is not limited in this embodiment of the application. Assuming that the last historical intra-orbit link length of the satellite A and the satellite D is 1, the preset variable threshold is 0.2, and the current intra-orbit link length is 1.2 according to the calculation formula, the current weight of the satellite A and the satellite D is taken as the current in-orbit link length 1.2. If the current intra-orbit link length 1.1 is obtained according to the calculation formula, the previous historical intra-orbit link length 1 is used as the current weight of the current time of the satellite A and the satellite D.

In the embodiment of the application, by obtaining the inter-satellite link length between the satellites in the domain network corresponding to the lowest-level hierarchical network, when the inter-satellite link length is greater than or equal to a preset length threshold, the inter-satellite link length is used as the current weight of the corresponding satellite at the current time. Because the change degree of the inter-satellite link is not very large in the movement process of the satellite, the method obtains the current weight of the satellite under the condition that the length of the inter-satellite link meets a certain condition, and avoids the problem of consumption of network bandwidth resources caused by obtaining the weight of each satellite and updating routing information.

In one embodiment, the method can be applied to updating of routing information of a low-earth orbit satellite network during movement.

The route updating mechanism refers to that the change of the link length between the satellites along with the movement of the satellites needs to update the route information step by step and domain by domain periodically, so that the optimal path is formed between any two points. The inter-satellite link length calculation time is determined by the speed of the change of the satellite link length, and the satellite time synchronization is not required.

The failure recovery mechanism is characterized in that when an inter-satellite link fails, routing information of a domain network of a four-point circulation mode body is changed, the domain network is expanded step by step, and finally convergence of the whole network routing is achieved.

Specifically, when an inter-satellite link fails, the weight of the failed inter-satellite link is set to infinity by the satellite, the inter-satellite link is indicated to be unreachable, the domain network of the four-point cycle motif is triggered to change the weight, and then the convergence of the domain network is completed according to the route generation method of the domain network corresponding to the lowest-level hierarchical network. And if the routing information of the domain network corresponding to the lowest-level hierarchical network does not influence the routing information of the domain network of the upper-level hierarchical network of the lowest level, stopping updating the routing information of the domain network of the upper-level hierarchical network of the lowest level. And if the routing information of the domain network corresponding to the lowest-level hierarchical network influences the routing information of the domain network of the upper-level hierarchical network at the lowest level, triggering the updating of the routing information of the domain network of the upper-level hierarchical network at the lowest level according to a routing production method between two adjacent domain networks.

It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the present application further provides a route generation device for implementing the above-mentioned route generation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so specific limitations in one or more embodiments of the route generation device provided below may refer to the limitations in the above route generation method, and details are not described here.

In one embodiment, as shown in fig. 15, there is provided a route generation apparatus including: a determining module 11, an obtaining module 12, a first updating module 13 and a second updating module 14, wherein:

the determining module 11 is configured to perform network hierarchical processing and network domain division processing on the low-earth-orbit satellite network according to a first number of orbits in the low-earth-orbit satellite network and a second number of satellites in each orbit, so as to obtain a plurality of level hierarchical networks and domain networks corresponding to the level hierarchical networks;

an obtaining module 12, configured to obtain, according to a preset duration, a current weight of each satellite in a domain network corresponding to a lowest-level hierarchical network;

a first updating module 13, configured to update historical routing information of each satellite in a domain network corresponding to a lowest-level hierarchical network to obtain corresponding current routing information if a current weight smaller than a last historical weight exists, where the historical routing information includes the last historical weight;

a second updating module 14, configured to update, according to the current routing information of each satellite, routing information corresponding to a previous-level hierarchical network of the lowest-level hierarchical network if the current routing information of each satellite satisfies the trigger condition; the triggering condition is that the current routing information of the satellite enables the variable quantity of the routing information corresponding to the network of the upper level to be larger than or equal to a preset variable quantity threshold value.

In one embodiment, the determining module includes:

a first determining unit, configured to determine a first logarithm result according to the first number, and determine a second logarithm result according to the second number;

a second determining unit, configured to determine, according to the first logarithm result, a plurality of level orbit dimension hierarchical networks, or determine, according to the second logarithm result, a plurality of level satellite dimension hierarchical networks, where the plurality of level hierarchical networks are the plurality of level orbit dimension hierarchical networks or the plurality of level satellite dimension hierarchical networks;

and the third determining unit is used for determining each level of hierarchical network and the domain network corresponding to each level of hierarchical network according to the ratio of the first quantity to the second quantity.

In one embodiment, the third determining unit is further configured to, in a case that an absolute value of a difference between the ratio and 1 is less than or equal to a first preset difference, divide the highest-level hierarchical network into domain networks of quartered domains; and determining the domain network corresponding to the next level hierarchy network of the highest level hierarchy network according to the number of the orbits in the obtained four-domain network and the number of satellites on each orbit until the domain network of the four-point cycle motif is obtained.

In an embodiment, the third determining unit is further configured to, in a case that an absolute value of a difference between the ratio and 2 is less than or equal to a second preset difference, divide the highest-level hierarchical network into a domain network of two domains; and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the number of the orbits in the obtained domain network of the two domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

In an embodiment, the third determining unit is further configured to, in a case that an absolute value of a difference between the ratio and 3 is less than or equal to a third preset difference, divide the highest-level hierarchical network into domain networks of three domains; and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the number of the orbits in the three-domain network and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

In one embodiment, a first update module includes:

a first updating unit, configured to update a last history weight of a corresponding satellite with a current weight smaller than the last history weight;

the fourth determining unit is used for interacting the first routing information between the satellite with the updated weight and the satellite without the updated weight so as to determine the first optimized weight of the satellite with the updated weight and the satellite without the updated weight;

and the fifth determining unit is used for interacting the second routing information among the satellites with the unchanged weights so as to determine the second optimized weights of the satellites with the unchanged weights, so as to obtain the current routing information.

In one embodiment, the second update module includes:

and the sixth determining unit is used for determining third optimization weights corresponding to other satellites except the public satellite in the two domain networks according to the first optimization weight and/or the second optimization weight of the public satellite between the two adjacent domain networks, and sending the third optimization weights and the identification of the destination satellite of the other satellite to the other satellite, wherein the current routing information comprises the first optimization weight and/or the second optimization weight of the public satellite.

In one embodiment, the second updating module further comprises:

and the second updating unit is used for updating the third optimization weight to the routing information of other satellites under the condition that the identification of the destination satellite does not exist in the routing information of other satellites.

In one embodiment, the second updating module further comprises:

and a replacing unit, configured to replace, when the identifier of the destination satellite exists in the routing information of the other satellites and the third optimization weight is smaller than the weight corresponding to the identifier of the destination satellite existing in the routing information, the weight corresponding to the identifier of the destination satellite with the third optimization weight.

In one embodiment, the obtaining module includes:

the system comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring the link length between each satellite in a domain network corresponding to a lowest-level hierarchical network according to preset time;

and the seventh determined element is used for taking the link length as the current weight of the current time of the corresponding satellite under the condition that the variation of the link length is larger than or equal to the preset variation threshold.

The modules in the route generation device can be wholly or partially implemented by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which when executed by a processor implements the steps of the route generation method provided by the above-described embodiments.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the route generation method provided by the above-described embodiments.

It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the various embodiments provided herein may be, without limitation, general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, or the like.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A method for route generation, the method comprising:

2. The method of claim 1, wherein the performing network classification processing and network domain division processing on the low-earth satellite network according to a first number of orbits in the low-earth satellite network and a second number of satellites in each orbit to obtain a plurality of level-level hierarchical networks and domain networks corresponding to the level-level hierarchical networks comprises:

and determining each level hierarchical network and a domain network corresponding to each level hierarchical network according to the ratio of the first quantity to the second quantity.

3. The method of claim 2, wherein determining each of the level-hierarchy networks and the domain network corresponding to each of the level-hierarchy networks according to a ratio between the first number and the second number comprises:

and determining the domain network corresponding to the next level network of the highest level hierarchical network according to the obtained number of the orbits in the domain network of the quartered domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

4. The method of claim 2, wherein determining the domain network corresponding to each orbital dimension hierarchical network and the domain network corresponding to each satellite dimension hierarchical network according to a ratio of the first number to the second number comprises:

and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the obtained number of the orbits in the domain network of the two domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

5. The method of claim 2, wherein determining the domain network corresponding to each of the orbital dimension hierarchical networks and the domain network corresponding to each of the satellite dimension hierarchical networks according to a ratio of the first number to the second number comprises:

and determining the domain network corresponding to the next level hierarchical network of the highest level hierarchical network according to the obtained number of the orbits in the domain network of the three domains and the number of the satellites on each orbit until the domain network of the four-point cycle motif is obtained.

6. The method of claim 1, wherein the updating the historical routing information of each satellite in the domain network corresponding to the lowest-level hierarchical network to obtain corresponding current routing information comprises:

updating the historical weight of the last time of the corresponding satellite by adopting a current weight which is smaller than the historical weight of the last time;

7. The method of claim 6, wherein updating the routing information corresponding to the higher-level hierarchical network according to the current routing information of each of the satellites comprises:

8. The method of claim 7, further comprising:

9. The method of claim 7, further comprising:

10. The method according to any one of claims 1 to 9, wherein the obtaining the current weight of each satellite in the domain network corresponding to the lowest-level hierarchical network according to the preset duration comprises:

11. A route generation apparatus, characterized in that the apparatus comprises:

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 10.