CN118249882A

CN118249882A - Satellite route planning method and device based on digital twin and computer equipment

Info

Publication number: CN118249882A
Application number: CN202410227766.7A
Authority: CN
Inventors: 邓雪群
Original assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Shikong Daoyu Technology Co Ltd
Current assignee: Zhejiang Geely Holding Group Co Ltd; Zhejiang Shikong Daoyu Technology Co Ltd
Priority date: 2024-02-29
Filing date: 2024-02-29
Publication date: 2024-06-25

Abstract

The application relates to a satellite route planning method, device and computer equipment based on digital twinning. The method comprises the following steps: acquiring a destination terminal identifier corresponding to information to be transmitted; according to the destination terminal identification, obtaining a satellite-to-terminal visible time list generated by digital twin system simulation, a network communication state and a flow state of each node in a low-orbit constellation network; determining an exit satellite node and a delivery period according to a satellite-to-terminal visible time list and the flow state of each node; determining an entry satellite node and an uploading period according to the issuing period and the earth station operation control plan; and generating a routing planning table according to the inlet satellite node, the uploading time period, the outlet satellite node, the issuing time period, the network communication state and the flow state of each node. And carrying out route planning by combining the network communication state and the flow state of each node simulated by the digital twin system, so that the generated route planning table can accurately finish the delivery of information in time.

Description

Satellite route planning method and device based on digital twin and computer equipment

Technical Field

The present application relates to the field of route planning technologies, and in particular, to a satellite route planning method, device and computer equipment based on digital twin.

Background

The global low orbit constellation consists of a plurality of satellites distributed on a plurality of orbit surfaces and covering the whole world. The global low-orbit constellation is used to provide seamless coverage of communication capability for massive users distributed worldwide. In satellite communication, at least one satellite in a global low orbit constellation is used as a relay to forward radio waves, so that communication between an earth station and a terminal is realized.

In satellite communication, it is often necessary to plan the path of information transmission in advance. Because of the regularity and predictability of inter-satellite network operation of the global low-orbit constellation, inter-satellite topology is relatively fixed, static routing is typically used in path planning. In the prior art, when static route planning is performed, the network state and the traffic state of the global low-orbit constellation cannot be effectively perceived, so that the planned satellite route cannot complete information delivery.

Disclosure of Invention

Based on the foregoing, it is necessary to provide a satellite route planning method, device and computer equipment based on digital twin.

In a first aspect, the present application provides a satellite route planning method based on digital twinning, the method comprising: acquiring a destination terminal identifier corresponding to information to be transmitted; acquiring a satellite-to-terminal visible time list generated by digital twin system simulation, a network communication state and a flow state of each node in a low-orbit constellation network according to the destination terminal identification; determining an exit satellite node and a delivery period according to a satellite-to-terminal visible time list and the flow state of each node; determining an entry satellite node and an uploading period according to the issuing period and the earth station operation control plan; and generating a routing planning table according to the inlet satellite node, the uploading time period, the outlet satellite node, the issuing time period, the network communication state and the flow state of each node.

In one embodiment, the obtaining, according to the destination terminal identifier, a satellite-to-terminal visible time list generated by digital twin system simulation, a network connection state and a traffic state of each node in a low-orbit constellation network includes: searching a satellite-to-terminal visible time list matched with the target terminal identifier in the digital twin system according to the target terminal identifier; the satellite-to-terminal visible time list comprises: terminal identification, visible satellite identification and a period of time when the satellite is visible to the terminal; acquiring a network communication state and a flow state of each node in a low-orbit constellation network generated by simulation of the digital twin system; each node in the low-orbit constellation network comprises: earth station nodes, satellite nodes, and terminal nodes.

In one embodiment, the determining the egress satellite node and the delivery period according to the satellite-to-terminal visible time list and the traffic state of each node includes: selecting a satellite node with the earliest visible time period of the satellite to the terminal from the visible time list of the satellite to the terminal as an outlet satellite node; determining the flow state corresponding to the exit satellite node according to the flow state of each node; and determining the issuing time period according to the visible time period of the satellite pair terminal corresponding to the outlet satellite node and the flow state corresponding to the outlet satellite node.

In one embodiment, determining an entry satellite node and a betting period according to the issuing period and an earth station operation control plan; the earth station operation control plan includes: visible satellite identification and a period of time during which satellites are visible to earth stations; searching whether an earth station operation control plan exists before the ending time according to the ending time of the issuing time period; if the earth station operation control plan exists before the ending time, searching whether the earth station operation control plan exists before the starting time according to the starting time of the issuing time period; if the earth station operation control plan exists before the starting time, acquiring the earth station operation control plan before the starting time, selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entrance satellite node, and taking the starting time as a issuing time; if the earth station operation control plan does not exist before the starting time, acquiring the earth station operation control plan which is overlapped with the issuing time period in time, selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entrance satellite node, and determining the issuing time according to the visible time period of the satellite corresponding to the entrance satellite node to the earth station and the issuing time period; and determining the information transmission type and the uploading time period according to the issuing time and the visible time period of the satellite corresponding to the entry satellite node to the earth station.

In one embodiment, the determining the information transmission type and the betting period according to the time period when the satellite corresponding to the issuing time and the entry satellite node is visible to the earth station includes: if the issuing time is in a visible time period of the satellite corresponding to the entrance satellite node to the earth station, the issuing time is taken as the starting time of the uploading time period, the ending time of the issuing time period is taken as the ending time of the uploading time period, and the information transmission type is instant transmission; and if the issuing time is not in the visible time period of the satellite corresponding to the entrance satellite node to the earth station, taking the visible time period of the satellite corresponding to the entrance satellite node to the earth station as an uploading time period, wherein the information transmission type is storage transmission.

In one embodiment, the generating the routing plan table according to the ingress satellite node, the uplink period, the egress satellite node, the downlink period, the network connectivity status of each node, and the traffic status includes: if the entry satellite node and the exit satellite node are the same satellite node, generating a routing planning table according to the entry satellite node, the uploading period, the exit satellite node and the issuing period; if the entrance satellite node and the exit satellite node are not the same satellite node, determining whether the entrance satellite node and the exit satellite node are communicated according to the network communication state of each node; if so, determining a relay satellite node in a path shortest mode according to the traffic states of the entrance satellite node, the exit satellite node and each node; and generating a routing planning table according to the entrance satellite node, the uploading time period, the exit satellite node, the issuing time period and the relay satellite node.

In one embodiment, the digital twin system is updated according to the information to be transmitted and the routing plan table; and simulating the delivery success rate when the information to be transmitted is delivered by the routing planning table through the digital twin system.

In a second aspect, the present application also provides a satellite route planning device based on digital twinning, the device comprising: the acquisition module is used for acquiring a destination terminal identifier corresponding to the information to be transmitted; the prediction module is used for acquiring a satellite-to-terminal visible time list generated by simulation of the digital twin system, a network communication state and a flow state of each node in the low-orbit constellation network according to the destination terminal identification; the export satellite determining module is used for determining export satellite nodes and issuing time periods according to the visible time list of the satellite to the terminal and the flow state of each node; the entrance satellite determining module is used for determining an entrance satellite node and an uplink period according to the issuing period and the earth station operation control plan; and the route planning module is used for generating a route planning table according to the inlet satellite node, the uploading time period, the outlet satellite node, the issuing time period, the network communication state and the traffic state of each node.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing any of the digital twinning-based satellite route planning methods of the first aspect described above when the processor executes the computer program.

In a fourth 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 implements any of the digital twinning based satellite route planning methods of the first aspect described above.

According to the satellite route planning method based on the digital twin, the destination terminal identification corresponding to the information to be transmitted is firstly obtained, and then the network connection state and the flow state of each node in the satellite-to-terminal visible time list and the low orbit constellation network which are generated by simulation of the digital twin system are obtained according to the destination terminal identification. Determining an exit satellite node and a delivery period according to a satellite-to-terminal visible time list and the flow state of each node; and determining an entry satellite node and an uplink period according to the downlink period and the earth station operation control plan, and finally generating a routing plan table according to the entry satellite node, the uplink period, the exit satellite node, the downlink period, the network communication state and the traffic state of each node. The digital twin system simulates the low-orbit constellation network, thereby determining the network communication state and the flow state of each node in the low-orbit constellation network, and synthesizing the network communication state and the flow state of each node when the route planning is carried out, so that the generated route planning table can complete the delivery of information, and the success rate of the information delivery of static routes is improved.

Drawings

Fig. 1 is a schematic diagram of a global low-rail constellation network architecture in one embodiment;

FIG. 2 is a block diagram of the components of a ground core network in one embodiment;

FIG. 3 is a flow diagram of a satellite route planning method based on digital twinning in one embodiment;

FIG. 4 is a flow chart of a method of egress satellite node planning in one embodiment;

FIG. 5 is a flow chart of a method for planning an ingress satellite node in one embodiment;

FIG. 6 is a flow diagram of a method of route plan table generation in one embodiment;

FIG. 7 is a flow diagram of a satellite route planning method based on digital twinning in one embodiment;

FIG. 8 is a block diagram of a satellite route planning device based on digital twinning in one embodiment;

Fig. 9 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The global low orbit constellation consists of a plurality of satellites distributed on a plurality of orbit surfaces and covering the whole world. The global low-orbit constellation is used to provide seamless coverage of communication capability for massive users distributed worldwide. Under the influence of geographic factors and production activities, satellite network users and traffic density are not uniformly distributed, and under the condition of limited link bandwidth, the conditions that traffic is easy to accumulate in a specific area, the task is heavy and network resources in other areas are idle are easy to occur. Therefore, flow control and load balancing are particularly important in constellation routing design.

When the route design is performed, the method comprises dynamic route planning and static route planning. The dynamic route planning can quickly sense the network topology change of the global low-orbit constellation, and timely change the route path so as to reduce packet loss, but the dynamic route planning can occupy extremely large operation resources and bandwidth resources. Because of the regularity and predictability of inter-satellite network operation of the global low-orbit constellation, and the relatively fixed inter-satellite topology, static routing has great advantages over dynamic routing. Global low orbit constellations, because their earth stations are built in china, if there are satellite nodes in the constellation: the network connection state can be maintained between all satellite nodes in the global low-orbit constellation and between the satellite nodes and the earth stations without inter-satellite links or only with inter-satellite links without inter-satellite links or without inter-satellite links with insufficient bandwidth and the like, namely at any time. Therefore, how to effectively perceive the network connection state and the traffic state of each node in the global low-rail constellation is a great difficulty in static route planning when the static route planning is performed.

Digital twinning is a novel technology for establishing a dynamic virtual model of multidimensional, multi-time-space scale, multidisciplinary and multi-physical quantity for a physical entity in a digital mode and reproducing the attribute, behavior, rules and the like of the physical entity in a real environment by means of real-time data. Digital twinning techniques, also known as "information mirroring models" or "digital mapping" or "digital mirroring". Digital twinning is a visual statement that means that a physical entity is exactly identical to its virtual model that it builds. Through the virtual model, the attribute, the behavior, the rule and the like of the physical entity in the real environment can be completely reflected. Because of the characteristic of the digital twin model, a virtual model of the global low-orbit constellation network system is constructed through the digital twin technology, so that the network communication state and the flow state of each node in the global low-orbit constellation are effectively perceived through the virtual model constructed through the digital twin technology, and the flow control and the load balancing during constellation route design are improved.

The embodiment of the application provides a global low-orbit constellation network, as shown in fig. 1, which comprises the following components: a plurality of satellites distributed on a plurality of track surfaces and covering the whole world in scope, an earth station, a satellite control center, a ground core network and user terminals distributed on various places of the whole world. The earth station is communicated with the satellite through a feed link, the user terminal is communicated with the satellite through a user link, and the satellite is communicated with the satellite through an inter-satellite link. The ground core network further comprises a route planning system and a digital twin constellation network system. The digital twin constellation network system is used for constructing a virtual model of the global low-orbit constellation network. And the route planning system is used for carrying out route planning according to the data generated by the simulation of the digital twin constellation network system. And the satellite control center is used for generating ground orbit control operation and satellite remote control operation of the satellite, and transmitting the ground orbit control operation and the satellite remote control operation to corresponding satellite nodes through the earth station so as to control the corresponding satellites. The plurality of circular nodes in fig. 1 each represent a satellite.

In one embodiment, as shown in fig. 2, fig. 2 is a block diagram of the ground core network in one embodiment. The ground core network comprises a route planning system and a digital twin constellation network system.

The digital twin constellation network system is a digital twin constellation communication network formed by combining an orbit model, a communication link model, a network topology model, a network protocol model, a space environment model and real-time data of an in-orbit satellite and a network of a constellation network node satellite, an earth station and a user terminal based on a global low-orbit constellation. The accurate mapping of the constellation network in the digital space is realized through the digital twin constellation communication network, so that the current and future network connection state, the traffic state and the network behavior of the constellation network are simulated and predicted.

The digital twin constellation network system comprises: the system comprises a space environment simulation module, an orbit simulation module, a network topology simulation module, a satellite simulation module, an earth station simulation module, a terminal simulation module and a network delivery statistics module.

The space environment simulation module is connected with the satellite simulation module and is used for predicting space special environment events such as space particle radiation, plasma, space fragments, single event upset, geomagnetic storm and the like, and then combining the current low orbit constellation and other on-orbit satellite operation experiences to simulate and predict the influence of the space special environment events on a satellite communication network and output influence parameters of the space special environment events on satellites. Such as single event upset, can cause satellite loading to work abnormally. The space special environment event may be acquired external information, and the information may be obtained by predicting the satellite space environment. And transmitting the generated influence parameters of the space special environment event on the satellite to a satellite simulation module.

The orbit simulation module is connected with the network topology simulation module and is used for acquiring information such as real-time orbit parameters and ground orbit control operation of all the in-orbit satellites in the global low-orbit constellation, simulating and predicting future orbits of all the satellite nodes in the global low-orbit constellation according to the information, so as to generate ephemeris parameters of all the satellite nodes, and transmitting the ephemeris parameters to the network topology simulation module. The real-time orbit parameters are respective real-time orbit parameters fed back to the earth station by each satellite node in the real global low orbit constellation, namely real-time coordinates of each satellite node. The ground orbit control operation is an operation instruction generated by the satellite control center for controlling the satellite orbit. Ephemeris parameters represent the orbit of the satellite in the future, i.e. the position and velocity of the satellite at a time in the future.

The network topology simulation module is respectively connected with the satellite simulation module, the earth station simulation module and the terminal simulation module and is used for simulating and predicting whether nodes are communicated and the communication duration according to ephemeris parameters of all satellites in the global low-orbit constellation, position parameters of earth stations and terminals, index parameters of feed/inter-satellite/user links, space environment influence parameters, satellite node states, periodic on-off rules of inter-satellite links and the like to obtain inter-node connectivity parameters, namely network communication states of all nodes in the global low-orbit constellation network, and sending the inter-node connectivity parameters to the satellite simulation module, the earth station simulation module and the terminal simulation module. Wherein the ephemeris parameters of each satellite in the global low orbit constellation are transmitted by the orbit simulation module; the space environment influence parameters are transmitted by the space environment simulation module; the satellite node state is transmitted by the satellite simulation module. The position parameters of the earth station and the terminal are obtained from real-time monitoring of global low-orbit constellations. The index parameter of the feed/inter-satellite/user link and the periodic on-off rule of the inter-satellite link are parameters set when the global low-orbit constellation is built. Whether the nodes are communicated or not and the communication duration comprises the following steps: whether the satellite node is communicated with the satellite node and the communication time length, whether the satellite node is communicated with the earth station node and the communication time length, and whether the satellite node is communicated with the terminal node and the communication time length.

And the satellite simulation module is used for simulating satellite node states and behaviors in the constellation network based on the platform and load internal logic control of the in-orbit satellite. And simulating working states such as satellite node health states, load opening transmission and the like according to the space environment influence factors and ground remote control operation, and outputting node state parameters to the network topology module. The node state parameter indicates whether the current node can communicate. Based on the communication link connectivity and link index among the nodes, the storage capacity of the satellite nodes, the network protocol processing logic and the link transceiving control logic are simulated, the real-time business data transceiving processing among satellites, satellites and terminals and between satellites and earth stations is simulated, and the traffic state of the satellite nodes is generated.

The earth station simulation module is used for simulating the buffer capacity of the earth station, the network protocol processing logic and the link receiving and transmitting control logic based on the connectivity and feed link indexes of the earth station and the satellite, simulating the real-time business data receiving and transmitting processing, and generating the node flow state of the earth station.

And the terminal simulation module is used for simulating the storage capacity of the terminal, the network protocol processing logic and the link transceiving control logic based on the connectivity of the terminal and the satellite and the user link index, simulating the real-time business data transceiving processing and generating the traffic state of the terminal node.

And the network delivery statistical module is used for counting the service data delivery rate and the delivery time delay of the digital twin constellation network system in real time. That is, when the information to be transmitted is simulated to deliver the information in the routing table, the corresponding delivery success rate and delivery time delay are achieved.

According to the embodiment of the application, by constructing a digital twin constellation network system, the link design of the satellite communication network and information such as orbit operation, space environment events, ground remote control operation, satellite return telemetry and the like are comprehensively processed, and the current and future operation states of the constellation network are dynamically simulated, so that the problems of changeable space environment, multiple constellation network state influence factors, incapability of real-time ground perception and the like are solved.

In one embodiment, as shown in fig. 3, a satellite route planning method based on digital twinning is provided, and the method is applied to the route planning system in fig. 2 for illustration, and includes the following steps:

step 302, a destination terminal identifier corresponding to the information to be transmitted is obtained.

When a user needs to send information to a destination terminal, firstly editing text information to be sent to generate information to be transmitted. And the route planning system acquires the information to be transmitted and generates a corresponding route planning table for the information to be transmitted according to the information to be transmitted. The information to be transmitted comprises text information and a destination terminal identifier. The destination terminal identifier is a unique identifier of the corresponding terminal to which the user needs to send text information.

Step 304, according to the destination terminal identification, obtaining a satellite-to-terminal visible time list generated by digital twin system simulation, a network connection state and a flow state of each node in the low orbit constellation network.

After the destination terminal identifier is obtained, the position corresponding to the destination terminal can be searched in the digital twin system. The digital twin system is the constructed digital twin constellation network system. Because the digital twin system simulates the virtual system which is identical to the low-orbit constellation network, the position corresponding to the target terminal can be searched according to the target terminal identification in the digital twin system simulation. And searching a satellite-to-terminal visible time list corresponding to the destination terminal identifier in the digital twin system according to the destination terminal identifier or the position of the destination terminal. The satellite-to-terminal visible time list includes: terminal identification, visible satellite identification corresponding to the terminal and visible time period of the satellite to the terminal. The satellite-to-terminal visible time list corresponding to the destination terminal identification, namely the visible satellite identifications of all visible satellites corresponding to the destination terminal, and the visible time period of the destination terminal corresponding to the visible satellites. It is also desirable to obtain the network connectivity status and traffic status of each node in the low-rail constellation network in the digital twinning system. Wherein, the network connectivity status of each node includes: the network communication state between the satellite nodes, the network communication state between the satellite nodes and the earth station nodes, and the network communication state between the satellite nodes and the terminal nodes, wherein the network communication state indicates whether the nodes are communicated or not. The traffic states of the nodes include feeder link traffic states, i.e., link traffic states between the satellite nodes and earth station nodes, user link traffic states, i.e., link traffic states between the satellite nodes and terminal nodes, and inter-satellite link traffic states, i.e., link traffic states between the satellite nodes and satellite nodes. Where the link traffic state represents the available bandwidth state of the link.

And 306, determining an exit satellite node and a delivery period according to the satellite-to-terminal visible time list and the flow state of each node.

After the visible time list of the satellite to the terminal is obtained, the visible satellite with the earliest visible time period of the satellite to the terminal is taken as an exit satellite node according to the visible time periods of the satellite to the terminal of all the visible satellites corresponding to the target terminal. And searching the user link traffic state between the target terminal and the exit satellite node according to the user link traffic state in the traffic states of the nodes, determining whether the bandwidth state between the entry time and the exit time corresponding to the exit satellite node is available, and taking a time period corresponding to the bandwidth available state between the entry time and the exit time as the issuing time period.

Step 308, determining an entry satellite node and a uploading period according to the issuing period and the earth station operation control plan.

According to the issuing time period, searching an earth station operation control plan before the issuing time period, wherein the earth station operation control plan comprises a visible satellite identifier corresponding to the earth station and a visible time period of the satellite to the earth station. And taking the visible satellite with the earliest visible time period of the satellite to the earth station in the operation control plan as an entrance satellite node, and determining the uploading time period according to the issuing time period and the visible time period of the satellite corresponding to the entrance satellite node to the earth station.

Step 310, generating a routing plan table according to the entry satellite node, the up-stream period, the exit satellite node, the down-stream period, the network communication state and the traffic state of each node.

After determining the entry satellite node, the up-stream period, the exit satellite node and the down-stream period, generating a route planning table according to the network communication state and the traffic state of each node and by using a shortest path principle.

In one embodiment, obtaining a satellite-to-terminal visible time list generated by digital twin system simulation, a network connectivity status and a traffic status of each node in a low-orbit constellation network according to a destination terminal identifier includes:

Firstly, according to the destination terminal identification, searching a satellite-to-terminal visible time list matched with the destination terminal identification in a digital twin system. The satellite-to-terminal visible time list includes: terminal identification, visible satellite identification, and time period for which the satellite is visible to the terminal. The following table shows:

Satellite-to-terminal visible time list

The terminal identifier is a terminal ID, and the terminal ID may be a unique identifier such as a network communication number corresponding to the terminal. The visible satellite identification may be a visible satellite ID, which may be a unique identification of the corresponding satellite when the low orbit constellation network is constructed. The period of time from when the satellite is visible to the terminal is from the entry time to the exit time, i.e. the period of time when the terminal can connect with the visible satellite. The transit elevation angle is the included angle between the incident time and the exit time and between the satellite and the horizon where the terminal is located. The digital twin system simulates a satellite-to-terminal visible time list corresponding to all terminals, and the satellite-to-terminal visible time list matched with the target terminal identification is required to be searched in the digital twin system according to the target terminal identification. In the satellite-to-terminal visible time list matched with the destination terminal identifier, the terminal ID is the destination terminal identifier.

And acquiring the network communication state and the flow state of each node in the low-orbit constellation network generated by the simulation of the digital twin system. Each node in the low-orbit constellation network comprises: earth station nodes, satellite nodes, and terminal nodes. The network connectivity status of each node includes: the network communication state between the satellite nodes, the network communication state between the satellite nodes and the earth station nodes, and the network communication state between the satellite nodes and the terminal nodes, wherein the network communication state indicates whether the nodes are communicated or not. The digital twin system can simulate the current network connection state of the low-orbit constellation network in real time and can also predict the future network connection state of the low-orbit constellation network. That is, the network connectivity status includes both real-time network connectivity status between nodes and predicted network connectivity status between nodes in the future. The traffic states of the nodes include feeder link traffic states, i.e., link traffic states between the satellite nodes and earth station nodes, user link traffic states, i.e., link traffic states between the satellite nodes and terminal nodes, and inter-satellite link traffic states, i.e., link traffic states between the satellite nodes and satellite nodes. Where the link traffic state represents the available bandwidth state of the link. The digital twin system can simulate the current link traffic state of the low-orbit constellation network in real time and can also predict the future link traffic state of the low-orbit constellation network. That is, traffic states include both real-time traffic states between nodes and predicted traffic states between nodes in the future.

According to the embodiment of the application, the network fault state and the flow state of the low-orbit constellation network can be effectively perceived by acquiring the satellite-to-terminal visible time list generated by simulation of the digital twin system, the network communication state and the flow state of each node in the low-orbit constellation network, so that the delivery success rate of the routing planning table is improved.

In one embodiment, as shown in fig. 4, there is provided an export satellite node planning method, including the steps of:

Step 402, selecting a satellite node with the earliest visible time period of the satellite to the terminal as an outlet satellite node in the visible time list of the satellite to the terminal.

After the satellite-to-terminal visible time list corresponding to the target terminal is found, determining an exit satellite node according to the satellite-to-terminal visible time periods of all the visible satellites in the satellite-to-terminal visible time list. For example, the satellite-to-terminal visible time list corresponding to the destination terminal includes three visible satellites, which are respectively: the visible satellite 1 has an entry time of 13:00 and an exit time of 13:10; the visible satellite 2 has an entry time of 13:05 and an exit time of 13:15; the satellite 3 is visible, the entry time is 14:00, and the exit time is 14:10. And selecting the visible satellite 1 with the earliest entry time as an exit satellite node.

And step 404, determining the traffic state corresponding to the exit satellite node according to the traffic state of each node.

The traffic states of the nodes include feeder link traffic states, subscriber link traffic states and inter-satellite link traffic states. And searching the user link flow state between the target terminal identifier and the exit satellite node in the flow state of each node according to the target terminal identifier and the visible satellite identifier corresponding to the exit satellite node. The user link traffic state between the target terminal identity and the egress satellite node comprises a predicted future traffic state between the target terminal node and the egress satellite node. In the user link traffic state between the target terminal identifier and the egress satellite node, the state is in an available bandwidth-free state at 13:00-13:03, the state is in an available bandwidth-free state at 13:03-13:09, and the state is in an available bandwidth-free state at 13:09-13:10.

Step 406, determining the issuing period according to the visible time period of the satellite corresponding to the exit satellite node to the terminal and the traffic state corresponding to the exit satellite node.

Based on the above, the period of time for which the satellite corresponding to the exit satellite node is visible to the terminal is: the entry to exit times of satellite 1 are visible, i.e. 13:00-13:10. And because the traffic state corresponding to the exit satellite node includes: the available bandwidth-free state is 13:00-13:03, the available bandwidth-free state is 13:03-13:09, and the available bandwidth-free state is 13:09-13:10. Therefore, a time period of the available bandwidth state is selected from the time periods visible to the terminal by the satellite as the issuing time period, that is, the issuing time period is: 13:03-13:09. And if the satellite corresponding to the exit satellite node has no corresponding available bandwidth state in the visible time period of the satellite to the terminal, the exit satellite node is re-planned. In the example, in the visible time list of the satellite corresponding to the destination terminal, the next earliest satellite node is selected as the exit satellite node, whether the visible time period of the satellite corresponding to the exit satellite node has the available bandwidth state is determined again, if yes, the time period corresponding to the available bandwidth state is taken as the issuing time period.

In the embodiment of the application, the user link flow state obtained through simulation of the digital twin system selects the time period corresponding to the available bandwidth state as the issuing time period in the visible time period of the satellite pair terminal corresponding to the exit satellite node, thereby further improving the delivery success rate of generating the route planning table.

In one embodiment, as shown in fig. 5, there is provided an entry satellite node planning method, including the steps of:

Step 502, according to the end time of the issuing period, searching whether an earth station operation control plan exists before the end time.

The earth station operation control plan includes: the satellite identification is visible and the satellite is visible to the earth station for a period of time. The specific table is as follows:

earth station operation control plan

The visible satellite identifier is a satellite ID, and the visible satellite ID may be a unique identifier of a corresponding satellite when the low-orbit constellation network is constructed. The period of time that the satellite is visible to the earth station is from the entry time to the exit time, i.e. the period of time that the earth station can connect with the visible satellite. The transit elevation angle is the angle between the entry time and the exit time, and the angle between the satellite and the horizon where the earth station is located.

After determining the issuing period, searching whether an earth station operation control plan exists before the ending time according to the ending time of the issuing period. Wherein the earth station operational control plan may be obtained from a satellite control center. By way of example, the issue period is: 13:03-13:09. It is necessary to first find 13:09 whether there is an earth station operational plan before. If the operation control plan exists, the information to be transmitted can be transmitted to the destination terminal in the issuing period. If the operation control plan does not exist, the exit satellite node needs to be planned again. For example, in the satellite-to-terminal visible time list corresponding to the destination terminal, the next earliest satellite node is selected as the exit satellite node, and the step of determining the issuing period is re-executed.

In step 504, if there is an earth station operation control plan before the end time, it is searched whether there is an earth station operation control plan before the start time according to the start time of the issuing period.

If the earth station operation control plan exists before the ending time, whether the earth station operation control plan exists before the starting time is searched according to the starting time of the issuing time. By way of example, the issue period is: 13:03-13:09. An earth station operation control plan exists before the ending time of the issuing period, namely, the earth station operation control plan exists before 13:09, wherein the earth station operation control plan is respectively a visible satellite 4, the entry time is 12:40, and the exit time is 12:50; the visible satellite 5 has an entry time of 12:50 and an exit time of 13:00; the visible satellite 6 has an entry time of 13:05 and an exit time of 13:15; the satellite 7 is visible, the entry time is 13:07, and the exit time is 13:17. According to the starting time of the issuing period, searching whether an earth station operation control plan exists before the starting time, namely searching whether the earth station operation control plan exists before the starting time of the issuing period, namely 13:03 in the earth station operation control plan.

In step 506, if there is an earth station operation control plan before the start time, the earth station operation control plan before the start time is acquired, a satellite node with the earliest time period in which the satellite is visible to the earth station is selected as an entry satellite node, and the start time is taken as a delivery time.

By way of example, 13:09 is preceded by an earth station operational control plan of: the visible satellite 4 has an entry time of 12:40 and an exit time of 12:50; the visible satellite 5 has an entry time of 12:50 and an exit time of 13:00; the satellite 6 is visible, the entry time is 13:05, and the exit time is 13:15. Acquiring an earth station operation control plan before the starting time of the issuing period, namely acquiring an earth station operation control plan before 13:03, wherein the earth station operation control plan comprises a visible satellite 4, the entry time is 12:40, and the exit time is 12:50; the satellite 5 is visible, the entry time is 12:50, the exit time is 13:00, and the total of two earth station operation and control plans are provided. The satellite-to-earth station visibility period of the visible satellite 4 is 12:40-12:50, and the satellite-to-earth station visibility period of the visible satellite 5 is 12:50-13:00. And selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entrance satellite node, and taking the starting time of the issuing time period as the issuing time. That is, the satellite-to-earth station visibility period of the visible satellite 4 is earlier than the satellite-to-earth station visibility period of the visible satellite 5, and therefore, the visible satellite 4 is taken as an entry satellite node, and the issuing period is: 13:03-13:09, then 13:03 is taken as the issuing time.

Step 508, if there is no earth station operation control plan before the start time, acquiring an earth station operation control plan with time overlapping with the issuing time period, selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entry satellite node, and determining the issuing time according to the visible time period of the satellite corresponding to the entry satellite node to the earth station and the issuing time period.

By way of example, 13:09 is preceded by an earth station operational control plan of: the visible satellite 6 has an entry time of 13:05 and an exit time of 13:15; the visible satellite 7 has an entry time of 13:07 and an exit time of 13:17; the satellite 8 is visible, the entry time is 13:08, and the exit time is 13:18. There is no earth station operational control plan before the start of the delivery period, i.e., 13:03. Acquiring an earth station operation control plan overlapped with the time of the issuing period, wherein the issuing period is as follows: 13:03-13:09, then the earth station operational control plan that has time overlap with the delivery period includes: a visible satellite 6, a visible satellite 7 and a visible satellite 8. The satellite-to-earth station visible time period of the visible satellite 6 is 13:05-13:15; the satellite-to-earth station visibility time period of the visible satellite 7 is 13:07-13:17; the satellite of the visible satellite 8 is visible to the earth station for a period of time of 13:08-13:18. And selecting a satellite node with the earliest time period of satellite visibility to the earth station as an entrance satellite node. I.e. the visible satellite 6 as the entry satellite node. And determining the issuing time according to the visible time period and the issuing time period of the satellite corresponding to the entry satellite node for the earth station. The visible time period of the satellite corresponding to the entrance satellite node to the earth station is as follows: the satellite-to-earth station visibility period 13:05-13:15 for the visible satellite 6; the issuing time period is as follows: 13:03-13:09. And selecting the latest time after the starting time of the visible time period of the satellite to the earth station corresponding to the entry satellite node in the issuing time period as the issuing time. I.e. during the down time period: and selecting the latest time after 13:05 from 13:03-13:09 as the issuing time. When the unit is the minutes, the issuing time is 13:06; when taking seconds as a unit, the issuing time is: 13:05:01.

And 510, determining the information transmission type and the uploading time period according to the issuing time and the visible time period of the satellite corresponding to the entry satellite node to the earth station.

If the issuing time is within the visible time period of the satellite corresponding to the entry satellite node to the earth station, the issuing time is taken as the starting time of the uploading time period, the ending time of the issuing time period is taken as the ending time of the uploading time period, and the information transmission type is instant transmission.

By way of example, the issue period is: 13:03-13:09, wherein the issuing time is 13:06, and the visible time period of satellites corresponding to the entrance satellite nodes to the earth station is 13:05-13:15. That is, the issuing time is 13:06 as the starting time of the uploading time period and 13:09 as the ending time of the uploading time period in the visible time period of the satellite corresponding to the entry satellite node to the earth station. I.e. the priming period is 13:06-13:09. Because the up-stream time period and the down-stream time period are overlapped, the information to be transmitted can be directly down-stream to the destination terminal.

If the issuing time is not in the visible time period of the satellite corresponding to the entry satellite node to the earth station, the visible time period of the satellite corresponding to the entry satellite node to the earth station is taken as the uploading time period, and the information transmission type is storage transmission.

By way of example, the issue period is: 13:03-13:09, the issuing time is: 13:03, the satellite corresponding to the entry satellite node has a visible time period of 12:40-12:50 for the earth station. I.e. the issuing time is not in the visible time period of the satellite corresponding to the entry satellite node to the earth station, and the 12:40-12:50 is taken as the uploading time period. Because the uploading time period and the issuing time period are not overlapped, when the information to be transmitted is issued, the information to be transmitted needs to be sent to the export satellite node first, and stored in the export satellite node, and after the issuing time period is reached, the stored information to be transmitted is issued to the destination terminal.

According to the embodiment of the application, the exit satellite node and the issuing time period are firstly determined, and then the entry satellite node and the uploading time period are planned by taking the issuing time period as constraint, so that the information to be transmitted can be effectively ensured to be sent to the destination terminal as early as possible.

In one embodiment, as shown in fig. 6, a route planning table generating method is provided, which includes the following steps:

in step 602, if the ingress satellite node and the egress satellite node are the same satellite node, a routing plan table is generated according to the ingress satellite node, the uplink period, the egress satellite node, and the downlink period.

If the entrance satellite node and the exit satellite node are the same satellite node, that is, the visible satellite identifier of the entrance satellite node is the same as the visible satellite identifier of the exit satellite node, the entrance satellite node and the exit satellite node are the same satellite node. The routing table is shown in the following table:

routing plan table

Because the entrance satellite node and the exit satellite node are the same satellite node, a relay satellite node is not required to be planned, and a route planning table is directly generated.

In step 604, if the ingress satellite node and the egress satellite node are not the same satellite node, determining whether the ingress satellite node and the egress satellite node are connected according to the network connection status of each node.

If the ingress satellite node and the egress satellite node are not the same satellite node, that is, the visible satellite identifier of the ingress satellite node is different from the visible satellite identifier of the egress satellite node, a relay satellite node needs to be planned for the ingress satellite and the egress satellite. The network connectivity status of each node includes a network connectivity status between the satellite nodes. And determining whether the entrance satellite node is communicated with the exit satellite node in the uploading period according to the visible satellite identification of the entrance satellite node and the visible satellite identification of the exit satellite node. If not, the entry satellite node needs to be reselected, that is, the satellite node with the earliest visible time period of the next satellite to the earth station is selected as the entry satellite node.

If so, step 606, determining the relay satellite node in the shortest path mode according to the traffic states of the ingress satellite node, the egress satellite node and the nodes.

If the ingress satellite node communicates with the egress satellite node, a plurality of paths between the ingress satellite node and the egress satellite node are determined. For example, three paths are included between the ingress satellite node and the egress satellite node, respectively: path 1: an entry satellite node-a relay satellite node 1-a relay satellite node 2-an exit satellite node; path 2: an entry satellite node-relay satellite node 3-relay satellite node 4-relay satellite node 2-exit satellite node; path 3: ingress satellite node-relay satellite node 1-relay satellite node 5-relay satellite node 6-relay satellite node 7-egress satellite node. Wherein path 1 includes 2 relay satellite nodes; path 2 includes 3 relay satellite nodes; path 3 includes 4 relay satellite nodes. Path 1, which is the shortest path, is selected first. The traffic state of each node includes a link traffic state between satellite nodes, i.e., an inter-satellite link traffic state. And determining available bandwidth states among the satellite nodes in the uploading period in the path 1, namely an entrance satellite node, a relay satellite node 1, a relay satellite node 2 and an exit satellite node according to the inter-satellite link flow state in the uploading period, and determining the relay satellite node as the relay satellite node 1 and the relay satellite node 2 if the available bandwidth states exist among the satellite nodes in the path 1. If no available bandwidth state exists between any two satellite nodes in the path 1, that is, if traffic congestion exists in the path 1, selecting a path 2 with the shortest next path, determining available bandwidth states among all satellite nodes in the path 2 in the uploading period according to the inter-satellite link traffic state in the uploading period, and if available bandwidth states exist among all satellite nodes in the path 2, determining the relay satellite nodes as a relay satellite node 3, a relay satellite node 4 and a relay satellite node 2.

Step 608, generating a routing plan table according to the entry satellite node, the up-stream period, the exit satellite node, the down-stream period and the relay satellite node.

After the relay satellite node is determined, a routing planning table is generated according to the entry satellite node, the uploading period, the exit satellite node, the issuing period and the relay satellite node.

In the above embodiment, according to the ingress satellite node and the egress satellite node, the relay satellite node is determined according to the path shortest principle and the inter-satellite link traffic state between the satellite nodes, so that the delivery success rate of generating the route planning table can be further improved.

In one embodiment, after the routing table is generated, the digital twin system is updated with the information to be transmitted and the routing table; and simulating the delivery success rate when the information to be transmitted is delivered by the route planning table through the digital twin system.

Since the digital twin system is capable of reproducing properties, behaviors, rules, etc. of the low-orbit constellation network in a real environment by means of real-time data. Therefore, in a real low-orbit constellation network, the information to be transmitted is sent to the target terminal according to the routing plan. The information to be transmitted is also required to be transmitted to the target terminal according to the routing planning table in the digital twin system, so that the simulated low-orbit constellation network in the digital twin system is completely synchronous with the low-orbit constellation network in the real environment. And updating the digital twin system through the information to be transmitted and the routing planning table so as to lead the digital twin system to simulate information delivery, thereby synchronously updating the flow state of each node. And the digital twin system simulation can simulate the delivery success rate when the information to be transmitted is delivered by the routing plan.

Compared with a dynamic routing algorithm, when the dynamic routing protocol operates, protocol packets are interacted among satellite nodes, so that larger network overhead is generated, network resources are occupied, meanwhile, because satellite-to-ground link switching is frequent, when the network scale is large, the convergence time of the dynamic routing algorithm is difficult to meet the requirement, and compared with the traditional simple static routing algorithm, the method and the system accurately predict the constellation network operation state on the basis of sensing the current network state and space technology experience learning by combining a digital twin technology, avoid a path with poor communication state in advance, and realize link flow control and load balancing when the user requirement is unbalanced.

As shown in fig. 7, the embodiment of the application provides a satellite route planning method based on digital twinning:

When one piece of information to be transmitted reaches the ground core network, the route planning system starts to carry out route planning flow on the information to be transmitted:

(1) Satellite-to-terminal visible time prediction: according to the information to be transmitted, the position of the destination terminal and the identification of the destination terminal corresponding to the information to be transmitted are input, and a satellite-to-terminal visible time list is inquired from the digital twin system.

(2) Planning an export satellite node and a delivery period: according to the shortest time delay principle, planning an exit satellite node, firstly searching the earliest visible satellite of a target terminal in a satellite-to-terminal visible time list to serve as the exit satellite node, wherein the visible time period is [ t1, t2], selecting a suboptimal satellite as the exit satellite node if the earliest visible satellite is eliminated, and the like.

(3) Determining whether there is a user link bandwidth for a visible period of the egress satellite node: inquiring the user link flow state in the time period of the exit satellite node [ t1, t2] from the digital twin system, judging whether the user link bandwidth is available in the time period, if so, selecting the available bandwidth time [ t11, t1n ] as the information issuing time period, and if not, reselecting the exit satellite node.

(4) Planning an entry satellite node and a filling period: and planning an entry satellite node according to the principle of shortest storage time on the satellite. Searching an earth station operation control plan from the moment t1n onward, and if the earth station operation control plan is not available, re-planning and selecting a suboptimal exit satellite node; if an earth station operation control plan exists, firstly, inquiring the earth station operation control plan forwards from the moment t11, selecting an earliest tracking satellite of the earth station as an entrance satellite node, wherein the visible time period of the entrance satellite to the earth station is [ t3, t4], and the issuing moment is t11; if no earth station operation control plan exists before the time t11, searching an earth station operation control plan which is overlapped with the time t11 and the time t1n, selecting an earliest tracking satellite of the earth station as an entrance satellite node, wherein the visible time period of the entrance satellite to the earth station is t3 and t4, and taking the nearest t1m after the time t3 as the issuing time. The issuing time is uniformly recorded as t1m (m is more than or equal to 1 and less than or equal to n). The suboptimal satellite is selected as the export satellite node if the earth station's earliest tracked satellite has been excluded.

(5) Judging whether the issuing time and the visible time period of the entrance satellite to the earth station overlap or not: if the issuing time t1m is within the time period of [ t3, t4], the information transmission type is instant transmission, the uploading time period is [ t1m, t1n ], and the transmission delay needs to be considered in actual engineering transmission. If the down-sending time t1m is not within the time period of [ t3, t4], the information transmission type is storage transmission, and the up-filling time period is [ t3, t4].

(6) Judging whether the exit satellite node and the entrance satellite node are the same satellite or not: if the exit satellite node and the entrance satellite node are the same satellite, directly generating a route planning table to finish planning; if the exit satellite node and the entrance satellite node are not the same satellite, a relay satellite node needs to be planned.

(7) Judging whether an inter-satellite link exists between the exit satellite node and the entrance satellite node: inquiring the inter-satellite link communication state in the uploading period of the digital twin system, judging whether the inter-satellite links between the outlet satellite node and the inlet satellite node are communicated, and if the inter-satellite links cannot be communicated, re-planning the suboptimal inlet satellite node.

(8) Planning relay satellite nodes: if the inter-satellite links between the exit satellite node and the entrance satellite node are communicated, planning the relay satellite node according to the shortest path principle, inquiring the inter-satellite link flow state of the relay satellite node in the uploading period to the digital twin system, if the flow of one relay satellite node is congested, selecting a suboptimal path, and so on, after determining the relay satellite node, generating a route planning table, and finishing planning.

(9) After the planning of the route planning table is completed, the information to be transmitted and the route planning table are transmitted to a digital twin system, the digital twin system updates the constellation network flow state, simulates information delivery, and statistics delivery success rate information is fed back to a core network system.

Due to the precious nature of satellite resources, the actual user demand may be much greater than the constellation communication capability. Therefore, different QOS optimization criteria can be designed for different information types, the planning method can be further optimized, and differentiated services can be provided for users. Different priority information can select different information transmission modes, whether an inter-satellite link is passed, whether an inter-satellite link with the same orbit is preferentially used, and the like during route planning. When the information transmission is abnormal, whether the route is re-planned, when the user link bandwidth is occupied, whether the high priority information can preempt the bandwidth resource, and whether the low priority information re-plans the route.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a satellite route planning device based on digital twinning, which is used for realizing the satellite route planning method based on digital twinning. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitations in the embodiments of the one or more satellite route planning devices based on digital twinning provided below can be referred to above for the limitations of the satellite route planning method based on digital twinning, which are not repeated here.

In one embodiment, as shown in fig. 8, there is provided a satellite route planning device based on digital twinning, including:

The acquiring module 100 is configured to acquire a destination terminal identifier corresponding to information to be transmitted;

the prediction module 200 is configured to obtain, according to the destination terminal identifier, a satellite-to-terminal visible time list generated by digital twin system simulation, a network connection state and a traffic state of each node in a low-orbit constellation network;

The export satellite determining module 300 is configured to determine an export satellite node and a delivery period according to the satellite-to-terminal visible time list and the traffic state of each node;

an entry satellite determining module 400, configured to determine an entry satellite node and an up-filling period according to the down-sending period and the earth station operation control plan;

The route planning module 500 is configured to generate a route planning table according to the entry satellite node, the uplink period, the exit satellite node, the downlink period, the network connection state and the traffic state of each node.

The prediction module 200 is further configured to search a satellite-to-terminal visible time list matched with the destination terminal identifier in the digital twin system according to the destination terminal identifier; the satellite-to-terminal visible time list comprises: terminal identification, visible satellite identification and a period of time when the satellite is visible to the terminal; acquiring a network communication state and a flow state of each node in a low-orbit constellation network generated by simulation of the digital twin system; each node in the low-orbit constellation network comprises: earth station nodes, satellite nodes, and terminal nodes.

The export satellite determining module 300 is further configured to select, from the satellite-to-terminal visible time list, a satellite node with the earliest visible time period of the satellite to the terminal as an export satellite node; determining the flow state corresponding to the exit satellite node according to the flow state of each node; and determining the issuing time period according to the visible time period of the satellite pair terminal corresponding to the outlet satellite node and the flow state corresponding to the outlet satellite node.

The entry satellite determining module 400 is further configured to search whether an earth station operation control plan exists before the end time according to the end time of the issuing period; if the earth station operation control plan exists before the ending time, searching whether the earth station operation control plan exists before the starting time according to the starting time of the issuing time period; if the earth station operation control plan exists before the starting time, acquiring the earth station operation control plan before the starting time, selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entrance satellite node, and taking the starting time as a issuing time; if the earth station operation control plan does not exist before the starting time, acquiring the earth station operation control plan which is overlapped with the issuing time period in time, selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entrance satellite node, and determining the issuing time according to the visible time period of the satellite corresponding to the entrance satellite node to the earth station and the issuing time period; and determining the information transmission type and the uploading time period according to the issuing time and the visible time period of the satellite corresponding to the entry satellite node to the earth station.

The entry satellite determining module 400 is further configured to, if the issuing time is within a period of time in which the satellite corresponding to the entry satellite node is visible to the earth station, take the issuing time as a start time of the uploading period, take an end time of the issuing period as an end time of the uploading period, and use an information transmission type as instant transmission; and if the issuing time is not in the visible time period of the satellite corresponding to the entrance satellite node to the earth station, taking the visible time period of the satellite corresponding to the entrance satellite node to the earth station as an uploading time period, wherein the information transmission type is storage transmission.

The route planning module 500 is further configured to generate a route planning table according to the ingress satellite node, the uplink period, the egress satellite node, and the downlink period if the ingress satellite node and the egress satellite node are the same satellite node; if the entrance satellite node and the exit satellite node are not the same satellite node, determining whether the entrance satellite node and the exit satellite node are communicated according to the network communication state of each node; if so, determining a relay satellite node in a path shortest mode according to the traffic states of the entrance satellite node, the exit satellite node and each node; and generating a routing planning table according to the entrance satellite node, the uploading time period, the exit satellite node, the issuing time period and the relay satellite node.

The route planning module 500 is further configured to update the digital twin system according to the information to be transmitted and the route planning table; and simulating the delivery success rate when the information to be transmitted is delivered by the routing planning table through the digital twin system.

The above-described digital twinning-based satellite routing device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 9. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing data generated when the satellite route planning method based on digital twinning is executed. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a digital twinning-based satellite route planning method.

It will be appreciated by persons skilled in the art that the architecture shown in fig. 9 is merely a block diagram of some of the architecture relevant to the present inventive arrangements and is not limiting as to the computer device to which the present inventive arrangements are applicable, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor implementing the digital twinning-based satellite route planning method of any of the embodiments described above when executing the computer program:

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor implements the digital twinning-based satellite route planning method of any of the embodiments described above.

The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in 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), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A satellite route planning method based on digital twinning, the method comprising:

Acquiring a destination terminal identifier corresponding to information to be transmitted;

Acquiring a satellite-to-terminal visible time list generated by digital twin system simulation, a network communication state and a flow state of each node in a low-orbit constellation network according to the destination terminal identification;

determining an exit satellite node and a delivery period according to a satellite-to-terminal visible time list and the flow state of each node;

determining an entry satellite node and an uploading period according to the issuing period and the earth station operation control plan;

And generating a routing planning table according to the inlet satellite node, the uploading time period, the outlet satellite node, the issuing time period, the network communication state and the flow state of each node.

2. The method of claim 1, wherein the obtaining the satellite-to-terminal visible time list generated by digital twin system simulation, the network connectivity status and the traffic status of each node in the low-orbit constellation network according to the destination terminal identifier comprises:

searching a satellite-to-terminal visible time list matched with the target terminal identifier in the digital twin system according to the target terminal identifier; the satellite-to-terminal visible time list comprises: terminal identification, visible satellite identification and a period of time when the satellite is visible to the terminal;

Acquiring a network communication state and a flow state of each node in a low-orbit constellation network generated by simulation of the digital twin system; each node in the low-orbit constellation network comprises: earth station nodes, satellite nodes, and terminal nodes.

3. The method of claim 2, wherein determining the egress satellite node and the delivery period based on the list of satellite-to-terminal visible times and the traffic state of each node comprises:

selecting a satellite node with the earliest visible time period of the satellite to the terminal from the visible time list of the satellite to the terminal as an outlet satellite node;

Determining the flow state corresponding to the exit satellite node according to the flow state of each node;

and determining the issuing time period according to the visible time period of the satellite pair terminal corresponding to the outlet satellite node and the flow state corresponding to the outlet satellite node.

4. The method of claim 1, wherein the determining an entry satellite node and a betting period is based on the down time period and a earth station operational control plan; the earth station operation control plan includes: visible satellite identification and a period of time during which satellites are visible to earth stations;

searching whether an earth station operation control plan exists before the ending time according to the ending time of the issuing time period;

if the earth station operation control plan exists before the ending time, searching whether the earth station operation control plan exists before the starting time according to the starting time of the issuing time period;

If the earth station operation control plan exists before the starting time, acquiring the earth station operation control plan before the starting time, selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entrance satellite node, and taking the starting time as a issuing time;

If the earth station operation control plan does not exist before the starting time, acquiring the earth station operation control plan which is overlapped with the issuing time period in time, selecting a satellite node with the earliest visible time period of the satellite to the earth station as an entrance satellite node, and determining the issuing time according to the visible time period of the satellite corresponding to the entrance satellite node to the earth station and the issuing time period;

And determining the information transmission type and the uploading time period according to the issuing time and the visible time period of the satellite corresponding to the entry satellite node to the earth station.

5. The method of claim 4, wherein determining the information transmission type and the betting period based on the time of transmission and a period of time for which satellites corresponding to the entry satellite node are visible to the earth station comprises:

if the issuing time is in a visible time period of the satellite corresponding to the entrance satellite node to the earth station, the issuing time is taken as the starting time of the uploading time period, the ending time of the issuing time period is taken as the ending time of the uploading time period, and the information transmission type is instant transmission;

And if the issuing time is not in the visible time period of the satellite corresponding to the entrance satellite node to the earth station, taking the visible time period of the satellite corresponding to the entrance satellite node to the earth station as an uploading time period, wherein the information transmission type is storage transmission.

6. The method of claim 1, wherein generating the routing table based on the ingress satellite node, the uplink period, the egress satellite node, the downlink period, the network connectivity status of each node, and the traffic status comprises:

If the entry satellite node and the exit satellite node are the same satellite node, generating a routing planning table according to the entry satellite node, the uploading period, the exit satellite node and the issuing period;

If the entrance satellite node and the exit satellite node are not the same satellite node, determining whether the entrance satellite node and the exit satellite node are communicated according to the network communication state of each node;

If so, determining a relay satellite node in a path shortest mode according to the traffic states of the entrance satellite node, the exit satellite node and each node;

and generating a routing planning table according to the entrance satellite node, the uploading time period, the exit satellite node, the issuing time period and the relay satellite node.

7. The method according to claim 1, wherein the method further comprises:

updating a digital twin system according to the information to be transmitted and a routing planning table;

and simulating the delivery success rate when the information to be transmitted is delivered by the routing planning table through the digital twin system.

8. A satellite route planning device based on digital twinning, the device comprising:

the acquisition module is used for acquiring a destination terminal identifier corresponding to the information to be transmitted;

the prediction module is used for acquiring a satellite-to-terminal visible time list generated by simulation of the digital twin system, a network communication state and a flow state of each node in the low-orbit constellation network according to the destination terminal identification;

The export satellite determining module is used for determining export satellite nodes and issuing time periods according to the visible time list of the satellite to the terminal and the flow state of each node;

The entrance satellite determining module is used for determining an entrance satellite node and an uplink period according to the issuing period and the earth station operation control plan;

And the route planning module is used for generating a route planning table according to the inlet satellite node, the uploading time period, the outlet satellite node, the issuing time period, the network communication state and the traffic state of each node.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the method of any one of claims 1 to 7 when executing the computer program.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the method of any of claims 1 to 7.