CN115801093A - Path planning method for guaranteeing end-to-end deterministic time delay of satellite network - Google Patents
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Abstract
A path planning method for ensuring end-to-end deterministic time delay of a satellite network comprises the steps of firstly, constructing a satellite network space-time diagram facing service characteristics, calculating a transmission time slot according to task traffic and satellite link capacity, dividing a task action time domain by the time slot, and then establishing the satellite network space-time diagram according to the communication relation and the communication duration of satellite network nodes in the time slot; then aiming at the satellite link time-varying characteristics, a path planning calculation method takes the size of task traffic, the capacity of a satellite node communication link and the resource allocation of the satellite node as constraint conditions, and the start-stop time of service transmission and the link communication time as judgment conditions; and finally, taking the task access satellite node as a first hop starting point, searching a next hop path node in all connected adjacent nodes according to a path planning calculation method until reaching a destination node, thereby obtaining a deterministic transmission path of the satellite network and forming the satellite network path planning method with deterministic time delay guarantee.
Description
Technical Field
The invention relates to a path planning method for ensuring end-to-end deterministic time delay of a satellite network, belonging to the technical field of communication.
Background
The spatial information network needs to establish a steady transmission path for different types of services in the fields of emergency communication, emergency rescue, navigation positioning, remote sensing and remote measuring, national defense safety, smart cities and the like, and the certainty of key service data can be ensured to be achieved. However, due to high-speed movement of satellites in different periods and dynamic change of network load with time, spatial information network topology and multidimensional network resources (such as link capacity, node storage and the like) have time-varying characteristics, so that an end-to-end deterministic transmission path is difficult to construct, and service quality such as deterministic delay, delay jitter and the like is difficult to guarantee.
The existing satellite network routing algorithm (such as methods of open shortest path routing, connected graph routing and the like) takes a static graph theory as a design basis, does not consider network services and the random characteristics of resources, can cause inconsistent arrival time of service messages at satellite nodes, and simultaneously causes the service messages to be stored and waited due to unstable link states, thereby causing the end-to-end delay of the service to have a long tail effect, causing uncertainty of the delay, and influencing the 'on-time, accurate' transmission of deterministic services and the timeliness of the service messages.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method overcomes the defects of the prior art, and solves the problem of path planning under the condition of ensuring the end-to-end deterministic time delay of the satellite network.
The purpose of the invention is realized by the following technical scheme:
a path planning method for ensuring end-to-end deterministic delay of a satellite network comprises the following steps:
calculating a transmission time slot according to the task traffic and the satellite link capacity, dividing a task action time domain by the time slot, and then establishing a satellite network space-time diagram according to the communication relation and the communication duration of the satellite network nodes in the time slot;
taking a task access satellite node as a first hop starting point, searching a next hop path node in all connected adjacent nodes according to a path planning method until reaching a destination node, thereby obtaining a deterministic transmission path of a satellite network, and forming a satellite network path planning method with deterministic time delay guarantee;
the path planning method specifically comprises the following steps: and performing path planning by taking the size of the task traffic, the capacity of the satellite node communication link and the resource allocation of the satellite node as constraint conditions and taking the start-stop time of service transmission and the link communication time as judgment conditions.
Preferably, the task contains the greatest common divisor v of all traffic φ Calculating basic unit time tau with an intersatellite link capacity parameter C (t); and dividing the task action time domain by taking the basic unit time as a time slot.
Preferably, any two satellite nodes (u, v) can be obtained between any m time points (t) according to the satellite network space-time diagram i ,t i+m ) Continuous connection time at uv (t i ,t i+m )。
Preferably, the path planning method specifically includes:
if the initial node of the path finding is a task access satellite source node S, the initial time is a task access time t s_start Calculating the transmission end time t of the task traffic on the satellite link according to the link capacity C (s, k) between the starting node and the connected satellite node sk_end The calculation method comprises the following steps:
the task traffic is transmittedDelivery time Deltat sk (M)＝t sk_end -t s_start Selecting the satellite node connected with the initial node in the set Q, if delta t sk (M) in a continuous interval of satellite node (s, k) connection time, i.e. Δ t sk (M)≤Δt uv (t i ,t i+m ),u＝s,v＝k,t s_start ≥t i ,t sk_end ≤t i+m If so, taking the satellite node k as a current routing node, writing the current routing node k into a deterministic path node set P, and deleting the node from the set Q; if Δ t sk (M)＞Δt uv (t i ,t i+m ) U = s, v = k, that is, the task traffic cannot be transmitted in a continuous interval of the satellite node (s, k) connection time, and the satellite node k does not meet the requirement;
if the initial node of the route searching is a satellite network intermediate node k, the next hop satellite node j communicated with the node k in the set Q has the initial time t of continuous communication time kj_start ，t s_start <t kj_start ≤t sk_end (ii) a According to the link capacity C (k, j) between the initial node and the connected satellite node, the transmission ending time t of the task traffic on the satellite link is calculated kj_end The calculation method comprises the following steps:
and simultaneously, the cache constraint of the node k is satisfied:
the task traffic transmission time deltat kj (M)＝t kj_end -t kj_start If Δ t is kj (M) in a continuous interval of satellite node (k, j) connection time, i.e. Δ t kj (M)≤Δt uv (t i ,t i+m ),u＝k,v＝j,t kj_start ≥t i ,t kj_end ≤t i+m If so, taking the satellite node j as a current routing node, writing the current routing node into a deterministic path node set P, and deleting the node from the set Q; if Δ t kj (M)＞Δt uv (t i ,t i+m ) U = k, v = j, then it represents the task traffic volumeIf the transmission cannot be completed in the continuous interval of the satellite node (k, j) connection time, the satellite node j does not meet the requirement;
if j = D, namely when the path is searched to the target satellite node, the path searching is finished; and if j is not equal to D, the path searching is carried out again when the path is not searched to the destination satellite node.
A path planning method for ensuring end-to-end deterministic delay of a satellite network comprises the following steps:
s1, determining task requirements; determining a satellite network inter-satellite link capacity parameter C (t) at different moments;
s2, calculating the basic unit time of all service transmission contained in the task as a time slot, calculating the basic unit time tau, and dividing a task action time domain by taking the basic unit time as the time slot;
s3, acquiring a communication relation graph of all satellite nodes in the task action time domain T;
s4, setting a deterministic path node set as P, taking a task access satellite node as a source node S, and writing the node into the deterministic path node set P;
s5, setting all satellite nodes of the satellite network except the source node S as a set Q, judging whether the set Q is empty, and if so, performing the step S7; if not, go to step S6
S6, taking task access time as starting time t s-start According to the service transmission time delta t (M), the satellite node Buffer capacity Buffer (u) and the communication time delta t between the satellite nodes uv (t i ,t i+m ) Determining a next hop satellite node according to the relationship;
s7, judging whether the deterministic path node set is a final deterministic path set or not; if the destination satellite node D is in the deterministic path node set P, namely D belongs to P, the path finding is finished, the satellite nodes in the deterministic path node set P are combined into a path in sequence, and the transmission time of the task traffic among the nodes is recorded, namely the end-to-end transmission deterministic time delay of the path is obtained; if it is
Then it indicates that there is no characterAnd (4) completing the path searching for the qualified path.
Preferably, the task requirement includes a task traffic M, a task contains a service type N, and the traffic of each service is V i (i =1,2, \8230;, N), a mission start access satellite node S, a mission destination satellite node D, a mission action time domain T.
Preferably, according to the connection relation graph of all satellite nodes in the mission action time domain T, any two satellite nodes (u, v) can be obtained between any m times (T) i ,t i+m ) Continuous connection time at uv (t i ,t i+m )，m∈(1,2，…,n)。
Preferably, the task contains the greatest common divisor v of all traffic φ And calculating the basic unit time tau by using the inter-satellite link capacity parameter C (t).
Preferably, step S6 specifically includes:
s61, if the initial node of the path searching is a task access satellite source node S, the initial time is a task access time t s_start Calculating the transmission ending time t of the task traffic on the satellite link according to the link capacity C (s, k) between the starting node and the connected satellite node sk_end The calculation method comprises the following steps:
the task traffic transmission time deltat sk (M)＝t sk_end -t s_start Selecting the satellite node connected with the initial node in the set Q, if delta t sk (M) in a continuous interval of satellite node (s, k) connection time, i.e. Δ t sk (M)≤Δt uv (t i ，t i+m )，u＝s，v＝k，t s_start ≥t i ，t sk_end ≤t i+m If so, taking the satellite node k as a current path searching node, writing the current path searching node into the deterministic path node set P, and deleting the node from the set Q; if Δ t sk (M)＞Δt uv (t i ,t i+m ) U = s, v = k, i.e. the task traffic cannot be transmitted in the continuous interval of the satellite node (s, k) connection time, the satellite node k does not meet the requirementReturning to the step S5;
s62, if the initial node of the path searching is a satellite network intermediate node k, the next hop satellite node j communicated with the node k in the set Q has the initial time t of continuous communication time kj_start ，t s_start <t kj_start ≤t sk_end (ii) a According to the link capacity C (k, j) between the initial node and the connected satellite node, the transmission ending time t of the task traffic on the satellite link is calculated kj_en d The calculation method comprises the following steps:
and simultaneously satisfying the cache constraint of the node k:
the task traffic transmission time deltat kj (M)＝t kj_end -t kj_start If Δ t is kj (M) in a continuous interval of satellite node (k, j) connection time, i.e. Δ t kj (M)≤Δt uv (t i ,t i+m ),u＝k,v＝j,t kj_start ≥t i ,t kj_end ≤t i+m If so, taking the satellite node j as a current routing node, writing the current routing node into a deterministic path node set P, and deleting the node from the set Q; if Δ t kj (M)＞Δt uv (t i ,t i+m ) If u = k and v = j, it indicates that the task traffic cannot be transmitted in the continuous interval of the satellite node (k, j) connection time, and the satellite node j does not meet the requirement, and the process returns to step S5;
s63, if j = D, that is, when the path is found to the destination satellite node, the path finding is finished, and step S7 is performed; if j ≠ D, i.e. the destination satellite node is not found, it returns to step S5.
A computer readable storage medium having stored thereon computer program instructions which, when loaded and executed by a processor, cause the processor to perform the above-described path planning method for ensuring end-to-end deterministic delays in a satellite network.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention calculates a transmission time slot according to the traffic and the accumulated flow of a satellite link, divides a task action time domain by the time slot, and then establishes a satellite network time continuous graph according to the communication relation and the communication duration of the satellite network nodes in the time slot; forming a path planning calculation method according to the constraint of the task traffic volume, the start time and the end time of service transmission, the capacity of a satellite node communication link and the storage occupation of a satellite node; and taking a task access satellite node as a first hop starting point, searching a next hop path node in all connected adjacent nodes according to a path calculation method until reaching a destination node, thereby obtaining a deterministic transmission path of the satellite network, eliminating waiting time delay caused by service storage and realizing deterministic transmission of multiple types of services.
(2) The method provided by the invention is a satellite network space-time diagram construction method facing service features, a transmission time slot is calculated according to service volume and satellite link transmission accumulated flow, a task action time domain is divided based on the time slot, a satellite network space-time diagram is established according to a satellite node communication relation in a divided time period, and the transmission requirements of different feature services can be accurately adapted.
(3) The method of the invention calculates the transmission time slot according to the service characteristics of different satellite networks, obtains the time slot occupation of different services, ensures that the service data packet can be completely transmitted within the communication time of the satellite nodes, and eliminates the uncertain time delay caused by the service communication waiting for the link.
(4) The method determines the start-stop time of service transmission according to the accumulated flow of links among different satellite nodes, accurately describes the relation between the service flow transmission time and the satellite node communication time, constructs a deterministic time delay path with time attributes, and ensures the end-to-end deterministic transmission of the service under the condition of time-varying links.
(5) The method of the invention considers the time-varying characteristic of the links among the satellite nodes, calculates the service transmission time according to the accumulated flow of the links, and realizes the deterministic transmission of the service under the condition of dynamic link variation by accurately controlling the initial transmission time of the upstream and downstream satellite nodes.
Drawings
Fig. 1 is a schematic diagram of a satellite network topology.
Fig. 2 is a diagram of a satellite node connectivity relationship.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
A path planning method for ensuring end-to-end deterministic time delay of a satellite network comprises the steps of firstly, constructing a satellite network space-time diagram facing service characteristics, calculating a transmission time slot according to task traffic and satellite link capacity, dividing a task action time domain by the time slot, and then establishing the satellite network space-time diagram according to the communication relation and the communication duration of satellite network nodes in the time slot; then, aiming at the satellite link time-varying characteristics, a path planning calculation method which takes the task traffic volume, the satellite node communication link capacity and the satellite node resource allocation (such as storage occupation) as constraint conditions and the service transmission start-stop time and the link communication time as judgment conditions is provided; and finally, taking the task access satellite node as a first hop starting point, searching a next hop path node in all connected adjacent nodes according to a path planning calculation method until reaching a destination node, thereby obtaining a deterministic transmission path of the satellite network and forming the satellite network path planning method with deterministic time delay guarantee.
Example 1:
a path planning method for ensuring end-to-end deterministic delay of a satellite network comprises the following steps:
s1, when a task with deterministic time delay guarantee requirements starts, a user initiates a task requirement to inform a satellite network management center, wherein the task requirement comprises a task traffic M, a task contains a service type N, and the traffic of each service is V i (i =1,2, \ 8230;, N), the task starts to access parameter information such as the satellite node S, the task destination satellite node D, the task acting time domain T and the like, and the satellite network management center can acquire the inter-satellite link capacity parameter C (T) of the satellite network at different moments;
s2. All service transmission contained in calculation taskIs a time slot, and the task contains the greatest common divisor v of all the traffic φ And an inter-satellite link capacity parameter C (t) calculating a basic unit time tau,
dividing the task action time domain by using the basic unit time as a time slot to obtain n time numbers,
i.e. t 1 ，t 2 ，…t n 。
S3, acquiring a communication relation graph of all satellite nodes in the task action time domain T according to the satellite network topology, and acquiring the communication relation graph of any two satellite nodes (u, v) between any m moments (T) i ,t i+m ) Continuous connection time at uv (t i ,t i+m )，m∈(1,2，…,n)；
S4, setting a deterministic path node set as P, taking a task access satellite node as a source node S, and writing the node into the deterministic path node set P;
s5, setting all satellite nodes of the satellite network except the source node S as a set Q, judging whether the set Q is empty, and if so, performing the step S7; if not, go to step S6.
S6, taking task access time as starting time t s-start According to the service transmission time delta t (M), the satellite node Buffer capacity Buffer (u) and the communication time delta t between the satellite nodes uv (t i ,t i+m ) Determines the next hop satellite node. The step S6 specifically includes:
s61 if the initial node of the path searching is a task access satellite source node S, the initial time is a task access time t s_start Calculating the transmission ending time t of the task traffic on the satellite link according to the link capacity C (s, k) between the starting node and the connected satellite node sk_end The calculation method comprises the following steps:
then the taskTraffic transmission time Δ t sk (M)＝t sk_end -t s_start Selecting the satellite node connected with the initial node in the set Q, if delta t sk (M) in a continuous interval of satellite node (s, k) connection time, i.e. Δ t sk (M)≤Δt uv (t i ,t i+m ),u＝s,v＝k,t s_start ≥t i ,t sk_end ≤t i+m Then the satellite node k is taken as the current routing node and written into the deterministic path node set P, and the node is deleted from the set Q. If Δ t sk (M)＞Δt uv (t i ,t i+m ) If u = S, v = k, that is, the task traffic cannot be transmitted in the continuous interval of the satellite node (S, k) connection time, the satellite node k does not meet the requirement, and the process returns to step S5.
S62 if the initial node of the path searching is the intermediate node k of the satellite network, the next hop satellite node j communicated with the node k in the set Q has the initial time t of the continuous communication time kj_start ，t s_start <t kj_start ≤t sk_end . Calculating the transmission end time t of the task traffic on the satellite link according to the link capacity C (k, j) between the starting node and the connected satellite node kj_end The calculation method comprises the following steps:
and simultaneously satisfying the cache constraint of the node k:
the task traffic transmission time deltat kj (M)＝t kj_end -t kj_start If Δ t kj (M) in a continuous interval of satellite node (k, j) connection time, i.e. Δ t kj (M)≤Δt uv (t i ,t i+m ),u＝k,v＝j,t kj_start ≥t i ,t kj_end ≤t i+m Then the satellite node j is taken as the current path-finding node and written into the deterministic path node set P, and the node is deleted from the set Q. If Δ t kj (M)＞Δt uv (t i ,t i+m ),u＝k,v＝j, the task traffic cannot be transmitted in the continuous interval of the satellite node (k, j) connection time, and the satellite node j does not meet the requirement and returns to the step S5.
S63, if j = D, that is, when the path is found to the destination satellite node, the path finding is finished, and step S7 is performed; if j ≠ D, i.e. the destination satellite node is not found, it returns to step S5.
And S7, judging whether the deterministic path node set is P which is the final deterministic path set or not. If the destination satellite node D is in the deterministic path node set P, namely D belongs to P, the path finding is finished, the satellite nodes in the deterministic path node set P are combined into a path in sequence, and the transmission time of the task traffic among the nodes is recorded, namely the end-to-end transmission deterministic time delay of the path is obtained; if it is
It means that there is no eligible path and the way-finding is finished.
Example 2:
a path planning method for guaranteeing end-to-end deterministic time delay of a satellite network comprises the following steps:
s1, when a task with deterministic time delay guarantee requirement starts, a user initiates a task requirement to inform a satellite network management center, wherein the task requirement comprises that task traffic M is 2 unit data, task containing service types N =2, and service rate is V 1 ＝V 2 The method comprises the steps that 1 unit data is obtained, a task starting access satellite node A, a task target satellite node D and a task action time domain T are divided into parameter information of 6 unit time and the like, and a satellite network inter-satellite link capacity parameter C (T) obtained by a satellite network management center is 1 unit data;
s2, calculating the basic unit time of the task including all the service transmission, and using the task to include the greatest common divisor v of all the service volume φ =1 and the intersatellite link capacity parameter C (t) calculate the elementary unit time tau,
τ =1 is obtained. Dividing the task action time domain by the basic unit timeThe number of times obtained is n,
i.e. (t) 0 ,t 1 ,t 2 ,t 3 ,t 4 ,t 5 )。
S3, assuming that the satellite network topology comprises 4 satellite nodes, as shown in the figure 1, acquiring a communication relation graph of all satellite nodes in a task action time domain T, and obtaining the communication relation graph between any m moments (T) i ,t i+m ) Continuous connection time at uv (t i ,t i+m ) M ∈ (1, 2, \8230;, n), as shown in FIG. 2;
s4, setting a deterministic path node set as P, taking a task access satellite node as a source node A, and writing the node into the deterministic path node set P, namely P = { A };
s5, setting the set of all satellite nodes of the satellite network except the source node A as Q = { B, C, D }, and if the set Q is judged to be non-empty, performing step S6.
S6, taking task access time as starting time t s_start According to the service transmission time delta t (M), the satellite node Buffer capacity Buffer (u) and the communication time delta t between the satellite nodes uv (t i ,t i+m ) Determines the next hop satellite node. The step S6 specifically comprises the following steps:
s61 according to the step S4, the initial node of the path searching is a task access satellite source node A, and the initial time is a task access time t 0 For the sake of convenience, assuming that the traffic is transmitted at the full rate of the link capacity, the transmission time Δ t (M) =2 unit times of the task traffic on the satellite link, and the transmission end time on the satellite link is t 2 . In all satellite nodes (B, C) in communication with the originating node A, at L AB ,L AC Of the two links, L AC The link has no slave t 0 The first on-time period, and L AB The connection time period of the link is t 0 -t 2 ]Then Δ t AB (t 0 ,t 2 ) = Δ t (M), which satisfies that the task traffic completes transmission in continuous interval of connected time, t sk_end ＝t 2 Then the satellite node B is taken as the current routing node and written into the deterministic path node set P, i.e., P = { a, B }, and the satellite node B is deleted from the set Q, i.e., Q = { C, D }.
S62, according to step S61, if the current route searching node B is the intermediate node k = B of the satellite network, the next-hop satellite node j = C, D connected to the node. In all the satellite nodes (C, D) in communication with the satellite node B, the start time t of their continuous connection time kj_start Should satisfy t s_start <t kj_start ≤t sk_end The connection time should satisfy Δ t kj (M)≥Δt(M)。
At L BC ,L BD Of the two links, L BD The connection time period of the link is [ t ] 3 -t 5 ]，t 0 <t 3 >t 2 And the transmission condition is not satisfied. And L is BC The connection time period of the link is t 1 -t 4 ]Then Δ t BC (t 1 ,t 4 ) Δ t (M), and t 0 <t 1 ≤t 2 The starting time of the continuous connection time is t kj_start ＝t 1 ，t kj_end ＝t 3 If the requirement that the task traffic is transmitted in the continuous interval of the connection time is met, the satellite node C is used as a current routing node and is written into a deterministic path node set P, namely P = { A, B, C }, and the satellite node C is deleted from a set Q, namely Q = { D }.
S63, according to step S62, if the current path searching node C is the intermediate node k = C of the satellite network, the next hop satellite node j = D is connected to the intermediate node k = C. In the satellite node D which is in all communication with the satellite node C, the starting time t of the continuous communication time thereof kj_start Should satisfy t s_start <t kj_start ≤t sk_end The connection time should satisfy Δ t kj (M)≥Δt(M)。
L CD The connection time period of the link is t 0 -t 1 ]And [ t 2 -t 4 ]Where Δ t is CD (t 0 ,t 1 ) < Δ t (M), the transmission condition is not satisfied. But at CD (t 2 ,t 4 ) = Δ t (M), and t 1 <t 2 ≤t 3 With a start time of continuous on-time of t kj_start ＝t 2 ，t kj_end ＝t 4 If the task traffic is transmitted within the continuous interval of the connection time, the satellite node D is used as the current routing node and is written into the deterministic path node set P, namely P = { A, B, C, D }, and the satellite node D is deleted from the set Q, namely P = { A, B, C, D }, namely the satellite node D is deleted from the set Q
And S64, if the path is searched to the destination satellite node according to the satellite node j = D obtained in the step S63, the path searching is finished, and the step S7 is carried out.
And S7, judging whether the deterministic path node set is P or not as a final deterministic path set. D belongs to P, the path finding is finished, the satellite nodes in the deterministic path node set P are combined into a path in sequence, namely A → B → C → D, the transmission time of the task traffic among the nodes is recorded, namely the end-to-end deterministic transmission delay of the path is obtained, and the delay value is t 4 -t 0 =4 unit times.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (10)
1. A path planning method for ensuring end-to-end deterministic delay of a satellite network is characterized by comprising the following steps:
calculating a transmission time slot according to the task traffic and the satellite link capacity, dividing a task action time domain by the time slot, and then establishing a satellite network space-time diagram according to the communication relation and the communication duration of the satellite network nodes in the time slot;
taking a task access satellite node as a first hop starting point, searching a next hop path node in all connected adjacent nodes according to a path planning method until reaching a destination node, thereby obtaining a deterministic transmission path of a satellite network, and forming a satellite network path planning method with deterministic time delay guarantee;
the path planning method specifically comprises the following steps: and performing path planning by taking the size of the task traffic, the capacity of the satellite node communication link and the resource allocation of the satellite node as constraint conditions and taking the start-stop time of service transmission and the link communication time as judgment conditions.
2. A path planning method according to claim 1, characterized in that the tasks include the greatest common divisor v of all traffic φ Calculating basic unit time tau with an intersatellite link capacity parameter C (t); and dividing the task action time domain by taking the basic unit time as a time slot.
3. Path planning method according to claim 1, characterized in that, from the satellite network space-time diagram, any two satellite nodes (u, v) can be derived between any m times (t [ ]) i ,t i+m ) Continuous connection time at uv (t i ,t i+m )。
4. The path planning method according to any one of claims 1 to 3, characterized in that the path planning method specifically comprises:
if the initial node of the path finding is a task access satellite source node S, the initial time is a task access time t s_start Calculating the transmission ending time t of the task traffic on the satellite link according to the link capacity C (s, k) between the starting node and the connected satellite node sk_end The calculation method comprises the following steps:
the task traffic transmission time deltat sk (M)＝t sk_end -t s_start Selecting the satellite node connected with the initial node in the set Q, if delta t sk (M) in a continuous interval of satellite node (s, k) connection time, i.e. Δ t sk (M)≤Δt uv (t i ,t i+m ),u＝s,v＝k,t s_start ≥t i ,t sk_end ≤t i+m If so, taking the satellite node k as a current routing node, writing the current routing node k into a deterministic path node set P, and deleting the node from the set Q; if Δ t sk (M)＞Δt uv (t i ,t i+m ) U = s, v = k, that is, the task traffic cannot be transmitted in the continuous interval of the satellite node (s, k) connection time, so that the satellite node k does not meet the requirement;
if the initial node of the route searching is a satellite network intermediate node k, the next hop satellite node j communicated with the node k in the set Q has the initial time t of continuous communication time kj_start ，t s_start <t kj_start ≤t sk_end (ii) a According to the link capacity C (k, j) between the initial node and the connected satellite node, the transmission ending time t of the task traffic on the satellite link is calculated kj_end The calculation method comprises the following steps:
and simultaneously, the cache constraint of the node k is satisfied:
the task traffic transmission time deltat kj (M)＝t kj_end -t kj_start If Δ t is kj (M) in a continuous interval of satellite node (k, j) connection time, i.e. Δ t kj (M)≤Δt uv (t i ,t i+m ),u＝k,v＝j,t kj_start ≥t i ,t kj_end ≤t i+m Then the satellite node j is taken as the current path searching node and written into the deterministic path node set P, and the node is selected from the set QDeleting; if Δ t kj (M)＞Δt uv (t i ,t i+m ) If u = k and v = j, it indicates that the task traffic cannot be transmitted in a continuous interval of the connection time of the satellite node (k, j), and the satellite node j does not meet the requirement;
if j = D, namely when the path is searched to the target satellite node, the path searching is finished; and if j is not equal to D, the path searching is carried out again when the path is not searched to the destination satellite node.
5. A path planning method for guaranteeing end-to-end deterministic delay of a satellite network is characterized by comprising the following steps:
s1, determining task requirements; determining a satellite network inter-satellite link capacity parameter C (t) at different moments;
s2, calculating the basic unit time of all service transmission contained in the task as a time slot, calculating the basic unit time tau, and dividing a task action time domain by taking the basic unit time as the time slot;
s3, acquiring a communication relation graph of all satellite nodes in the task action time domain T;
s4, setting a deterministic path node set as P, taking a task access satellite node as a source node S, and writing the node into the deterministic path node set P;
s5, setting all satellite nodes of the satellite network except the source node S as a set Q, judging whether the set Q is empty, and if so, performing the step S7; if not, go to step S6
S6, taking task access time as starting time t s-start According to the service transmission time delta t (M), the satellite node Buffer capacity Buffer (u) and the communication time delta t between the satellite nodes uv (t i ,t i+m ) Determining a next hop satellite node according to the relation;
s7, judging whether the deterministic path node set is a final deterministic path set or not; if the destination satellite node D is in the deterministic path node set P, namely D belongs to P, the path finding is finished, the satellite nodes in the deterministic path node set P are combined into a path in sequence, and the transmission time of the task traffic among the nodes is recorded, namely the end-to-end transmission time of the path is the transmission time of the task traffic between the nodesA deterministic time delay is input; if it is
It means that there is no eligible path and the way-finding is finished.
6. The path planning method according to claim 5, wherein the task requirement includes a task traffic volume M, a task including service category N, and a traffic volume of each service is V i (i =1,2, \ 8230;, N), a task start access satellite node S, a task destination satellite node D, a task action time domain T.
7. The path planning method according to claim 5, wherein any two satellite nodes (u, v) between any m times (T) can be obtained according to the communication relation graph of all satellite nodes in the mission action time domain T i ,t i+m ) Continuous connection time at uv (t i ,t i+m )，m∈(1,2，…,n)。
8. A path planning method according to claim 5, characterized in that the tasks include the greatest common divisor v of all traffic φ And calculating the basic unit time tau by using the inter-satellite link capacity parameter C (t).
9. The path planning method according to any one of claims 5 to 8, wherein step S6 specifically is:
s61, if the initial node of the path searching is a task access satellite source node S, the initial time is a task access time t s_start Calculating the transmission ending time t of the task traffic on the satellite link according to the link capacity C (s, k) between the starting node and the connected satellite node sk_end The calculation method comprises the following steps:
the task traffic transmission time deltat sk (M)＝t sk_end -t s_start Selecting the satellite node connected with the initial node from the set Q, if delta t sk (M) in a continuous interval of satellite node (s, k) connection time, i.e. Δ t sk (M)≤Δt uv (t i ，t i+m )，u＝s，v＝k，t s_start ≥t i ，t sk_end ≤t i+m If so, taking the satellite node k as a current path searching node, writing the current path searching node into the deterministic path node set P, and deleting the node from the set Q; if Δ t sk (M)＞Δt uv (t i ,t i+m ) U = S, v = k, that is, the task traffic cannot be transmitted in the continuous interval of the satellite node (S, k) connection time, the satellite node k does not meet the requirement, and the step returns to step S5;
s62, if the initial node of the path searching is a satellite network intermediate node k, the next hop satellite node j communicated with the node k in the set Q has the initial time t of continuous communication time kj_start ，t s_start <t kj_start ≤t sk_end (ii) a According to the link capacity C (k, j) between the initial node and the connected satellite node, the transmission ending time t of the task traffic on the satellite link is calculated kj_end The calculation method comprises the following steps:
and simultaneously, the cache constraint of the node k is satisfied:
the task traffic transmission time deltat kj (M)＝t kj_end -t kj_start If Δ t is kj (M) in a continuous interval of satellite node (k, j) connection time, i.e. Δ t kj (M)≤Δt uv (t i ,t i+m ),u＝k,v＝j,t kj_start ≥t i ,t kj_end ≤t i+m If so, taking the satellite node j as a current routing node, writing the current routing node into a deterministic path node set P, and deleting the node from the set Q; if Δ t kj (M)＞Δt uv (t i ,t i+m ) U = k, v = j, it means that the task traffic cannot be in the satelliteIf the transmission is completed in the continuous interval of the connection time of the nodes (k, j), the satellite node j does not meet the requirement, and the step S5 is returned;
s63, if j = D, that is, when the path is found to the destination satellite node, the path finding is finished, and step S7 is performed; if j ≠ D, i.e. the destination satellite node is not found, the step S5 is returned.
10. A computer readable storage medium having stored thereon computer program instructions which, when loaded and executed by a processor, cause the processor to perform the method of any of claims 1 to 3.
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