WO2024022185A1

WO2024022185A1 - Route generation method and apparatus and storage medium

Info

Publication number: WO2024022185A1
Application number: PCT/CN2023/108080
Authority: WO
Inventors: 赵鹏; 刘江; 朱士伟; 赵喜凤; 丁睿
Original assignee: 网络通信与安全紫金山实验室
Priority date: 2022-07-27
Filing date: 2023-07-19
Publication date: 2024-02-01
Also published as: CN114978979B; CN114978979A

Abstract

The present application relates to a route generation method and apparatus and a storage medium. According to a first number of orbits in a low-orbit satellite network and a second number of satellites on the orbits, network hierarchy and domain divisions are performed on the low-orbit satellite network to obtain multiple levels of hierarchical networks and domain networks corresponding to these levels of hierarchical networks. Current weights of satellites in the domain network corresponding to the lowest level of hierarchical network are acquired, and if a current weight less than the previous historical weight exists, historical route information of the satellites is updated to obtain corresponding current route information. Furthermore, if the current route information of the satellites causes the change of the route information corresponding to the previous level of hierarchical network to be greater than or equal to a preset change threshold, the route information corresponding to the previous level of hierarchical network is updated according to the current route information. According to the present disclosure, the low-orbit satellite network is analyzed layer by layer, so that rapid convergence of a large-scale low-orbit satellite network can be completed even in the case of limited satellite-borne computing resources.

Description

Route generation method, device, storage medium

Related applications

This application claims priority to the Chinese patent application filed on July 27, 2022, with application number 2022108883411 and titled "Route Generation Method, Device, and Storage Medium", the full text of which is hereby incorporated by reference.

Technical field

The present application relates to the technical field of satellite communications, and in particular to a route generation method, device, and storage medium.

Background technique

The low-orbit satellite network consists of multiple orbital planes and satellites evenly distributed on the orbital plane. The satellites are connected through inter-satellite links (each satellite includes two intra-orbital links and two inter-orbital links). Satellite nodes before and after the connection and neighboring satellite nodes in adjacent orbits) realize satellite networking to solve the problem of limited ground station establishment and inability to provide network services, and can provide long-distance low-latency transmission. Routing technology is a basic technology to ensure interconnection between satellite nodes. Due to the large scale of low-orbit satellite networks, rapid changes in inter-satellite link status, and limited on-board computing resources, traditional ground routing algorithms cannot be applied at all. Low Earth Orbit Satellite Network.

Contents of the invention

Based on this, it is necessary to address the above technical problems and provide a route generation method, device, and storage medium that can be applied to low-orbit satellite network communications.

In a first aspect, this application provides a route generation method, which method includes:

According to the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit, network hierarchical processing and network domain classification processing are performed on the low-orbit satellite network to obtain a plurality of hierarchical networks and the hierarchical network. The domain network corresponding to the network;

According to the preset duration, obtain the current weight of each satellite in the domain network corresponding to the lowest level network;

If there is a current weight that is smaller than the last historical weight, update the historical routing information of each satellite in the domain network corresponding to the lowest level network to obtain the corresponding current routing information, where the historical routing information includes the above One time historical weight;

If the current routing information of each satellite satisfies the triggering condition, the routing information corresponding to the upper level network of the lowest level hierarchical network is updated according to the current routing information of each satellite; wherein, the triggering condition is the The current routing information of the satellite causes the change amount of the routing information corresponding to the upper-level hierarchical network to be greater than or equal to the preset change amount threshold.

In one embodiment, based on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit, network hierarchical processing and network segmentation processing are performed on the low-orbit satellite network to obtain multiple A level-level network and the domain network corresponding to the level-level network include:

determining a first logarithmic result based on the first quantity and determining a second logarithmic result based on the second quantity;

A plurality of levels of orbital dimension hierarchical networks are determined according to the first logarithmic result, or a plurality of levels of satellite dimension hierarchical networks are determined according to the second logarithmic result, wherein the plurality of levels of hierarchical networks are the multiple levels of hierarchical networks. A level orbital dimension hierarchical network or a plurality of levels of satellite dimension hierarchical network;

According to the ratio of the first number to the second number, each of the level hierarchical networks and the domain network corresponding to each of the level hierarchical networks are determined.

In one embodiment, determining each of the level hierarchical networks and the domain network corresponding to each of the level hierarchical networks based on the ratio of the first quantity to the second quantity includes:

If the absolute value of the difference between the ratio and 1 is less than or equal to the first preset difference, then divide the highest-level hierarchical network into a four-domain domain network;

According to the number of orbits in the obtained four-domain domain network and the number of satellites on each orbit, determine the domain network corresponding to the next level hierarchical network of the highest level hierarchical network until the domain of the four-point cyclic motif is obtained. Until the Internet.

In one embodiment, determining the domain network corresponding to each of the orbital dimension hierarchical networks and the domain network corresponding to each of the satellite dimension hierarchical networks based on the ratio of the first quantity to the second quantity includes: :

If the absolute value of the difference between the ratio and 2 is less than or equal to the second preset difference, then divide the highest-level hierarchical network into a domain network of bipartite domains;

According to the number of orbits in the obtained bipartite domain network and the number of satellites on each orbit, the domain network corresponding to the next level network of the highest level hierarchical network is determined until the domain network of the four-point cyclic motif is obtained. until.

If the absolute value of the difference between the ratio and 3 is less than or equal to the third preset difference, then divide the highest-level hierarchical network into a three-domain domain network;

According to the number of orbits in the obtained three-domain domain network and the number of satellites on each orbit, the domain network corresponding to the next level hierarchical network of the highest level hierarchical network is determined until the domain of the four-point cyclic motif is obtained. Until the Internet.

In one embodiment, the last historical weight of the corresponding satellite is updated using a current weight that is smaller than the last historical weight;

The first routing information is exchanged between the satellite whose weight has been updated and the satellite whose weight has not been updated to determine the satellite whose weight has been updated and the satellite whose weight has not been updated. The first optimized weight of the updated satellite;

The second routing information is exchanged between the satellites whose weights have not been updated to determine the second optimized weights of the satellites whose weights have not been changed to obtain the current routing information.

In one embodiment, updating the routing information corresponding to the upper-level hierarchical network based on the current routing information of each satellite includes:

According to the first optimization weight and/or the second optimization weight of the common satellite between two adjacent domain networks, determine the third optimization weight corresponding to other satellites in the two domain networks except the public satellite, and provide The other satellite sends the third optimization weight and the identification of the destination satellite of the other satellite, wherein the current routing information includes the first optimization weight and/or the second optimization weight of the public satellite.

In one embodiment, the method further includes:

If the identification of the destination satellite does not exist in the routing information of the other satellite, the third optimization weight is updated to the routing information of the other satellite.

In one embodiment, the method further includes:

If the identification of the destination satellite exists in the routing information of the other satellites, and the third optimization weight is smaller than the weight corresponding to the identification of the destination satellite existing in the routing information, then the third optimization weight is used Replace the weight corresponding to the identity of the destination satellite.

In one embodiment, obtaining the current weight of each satellite in the domain network corresponding to the lowest level network according to a preset time period includes:

Obtain the inter-satellite link length between each satellite in the domain network corresponding to the lowest-level hierarchical network according to the preset duration;

If the variation of the inter-satellite link length is greater than or equal to the preset variation threshold, the link length is used as the current weight of the corresponding satellite.

In a second aspect, this application also provides a route generation device, which includes:

The determination module is configured to perform network hierarchical processing and network domain classification processing on the low-orbit satellite network based on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit to obtain a multi-level hierarchical network. The domain network corresponding to the level hierarchical network;

The acquisition module is set to obtain the current weight of each satellite in the domain network corresponding to the lowest level network according to the preset time period;

The first update module is configured to update the historical routing information of each satellite in the domain network corresponding to the lowest level hierarchical network to obtain the corresponding current routing information if there is a current weight that is smaller than the last historical weight, wherein, Historical routing information includes the last historical weight;

The second update module is configured to update the routing information corresponding to the upper level network of the lowest level hierarchical network according to the current routing information of each satellite if the current routing information of each of the satellites satisfies the triggering condition; wherein, The triggering condition is that the current routing information of the satellite causes the change amount of the routing information corresponding to the upper level network to be greater than or equal to a preset change threshold value.

In a third aspect, this application also provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by the processor, the following steps are implemented:

The above-mentioned route generation method, device, and storage medium perform network hierarchical processing and network segmentation processing on the low-orbit satellite network based on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit, and obtain multiple The level-level network and the domain network corresponding to the level-level network. And obtain the current weight of each satellite in the domain network corresponding to the lowest level network. If there is a current weight that is smaller than the previous historical weight, update the historical routing information of each satellite in the domain network corresponding to the lowest level network. Get the corresponding current routing information. Further, if the current routing information of each satellite satisfies the triggering condition, the routing information corresponding to the upper level network of the lowest level hierarchical network is updated according to the current routing information of each satellite; where, the triggering condition is that the current routing information of the satellite makes the upper level hierarchical network The change amount of the routing information corresponding to the first-level hierarchical network is greater than or equal to the preset change amount threshold. This disclosure divides the low-orbit satellite network into hierarchical networks of different levels and domain networks corresponding to the level-level networks by performing hierarchical domain processing on the low-orbit satellite network. When the routing information of each satellite in the low-orbit satellite network changes, Only the domain network corresponding to the lowest level network needs to be updated with routing information. If the routing information of the domain network corresponding to the lowest-level network affects the network one level above the lowest-level network, then update the domain network of the network one level above the lowest-level network and analyze it layer by layer. There is no need to All routing information of the entire low-orbit satellite network is updated, ensuring the rapid convergence of a large-scale low-orbit satellite network even with limited on-board computing resources.

Description of drawings

Figure 1 is an application environment diagram of a route generation method in an embodiment;

Figure 2 is a schematic flowchart of a route generation method in an embodiment;

Figure 3 is a schematic flowchart of hierarchical domain division of a low-orbit satellite network in one embodiment;

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

Figure 5 is a schematic diagram of the hierarchical domain structure of the inclined orbit constellation in one embodiment;

Figure 6 is a schematic diagram of the hierarchical domain structure of the polar orbit constellation in one embodiment;

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

Figure 8 is a schematic diagram of the domain network self-healing of the four-point loop motif in one embodiment;

Figure 9 is a schematic flowchart of determining current routing information in one embodiment;

Figure 10 is a schematic diagram of hierarchical and domain identification of a low-orbit satellite network in one embodiment;

Figure 11 is a schematic diagram of domain network route generation in one embodiment;

Figure 12 is a schematic flowchart of determining routing information of adjacent domain networks in one embodiment;

Figure 13 is a schematic diagram of adjacent domain network route generation in one embodiment;

Figure 14 is a schematic flowchart of determining the current weight of a satellite in one embodiment;

Figure 15 is a structural block diagram of a route generating device in an embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application and are not used to limit the present application.

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

According to the constellation configuration, the low-orbit satellite network can be divided into a polar orbit constellation and an inclined orbit constellation. The orbital inclination of the polar orbit constellation is close to 90 degrees, that is, passing over the polar regions, there is a reverse seam between the orbital planes, and a stable inter-orbital gap cannot be established. link, when the satellite arrives near the polar regions, the satellites in the inter-orbital link will move at high speed, causing the inter-orbital link to break. For example, the Iridium system is a typical polar-orbiting constellation. The tilted orbit constellation does not have reverse seams and does not pass through the polar regions, so it will not cause regular link disconnections, but it cannot achieve coverage in the polar regions. However, it can achieve multiple coverage on the ground near high latitudes and achieve signal Enhance. For example, Starlink, which has begun to be deployed, is a representative of this type of constellation.

However, the high-speed movement of low-orbit satellite constellations around the earth will bring about dynamic changes in the network topology and frequent switching of inter-satellite links. Regular inter-satellite link disconnections and sudden inter-satellite link failures will affect the network topology. Make an impact. The time-varying network characteristics of the low-orbit satellite network are mainly reflected in the fact that the orbital speed of the low-orbit satellite network is as high as 7.2 kilometers/second, the network topology changes frequently, the intra-orbit link is relatively stable, the inter-orbit link has dynamic changes, and the reverse seam The satellites on the side are moving at relatively high speed and cannot establish connections. The time-varying network needs to be decomposed and converted into a non-time-varying network. The limited on-board computing resources also make it difficult for large-scale satellite networks to converge quickly, and the network transmits a large amount of link status information for verification. Consuming network bandwidth resources, traditional terrestrial routing algorithms simply cannot be applied to low-orbit satellite networks. Therefore, this application proposes a route generation method, device, and storage medium to solve the above technical problems.

In one embodiment, as shown in Figure 2, a route generation method is provided. The application of this method to the satellite in Figure 1 is used as an example to illustrate, including the following steps:

S201. According to the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit, perform network hierarchical processing and network domain classification processing on the low-orbit satellite network, and obtain multiple levels of hierarchical networks and corresponding levels of hierarchical networks. domain network.

In this embodiment, the low-orbit satellite network is divided into multiple hierarchical networks and domain networks corresponding to the hierarchical networks. Each hierarchical network includes multiple domain networks. Each hierarchical network includes all satellites. Each satellite belong to a domain network at each level of the hierarchical network. Among them, normal satellites include four inter-satellite links, which are respectively connected to four satellites in the orbit forward, in the orbit backward, in the inter-orbit forward and in the inter-orbit backward.

In this embodiment, when performing network hierarchical processing on the low-orbit satellite network, logarithmic calculations can be performed on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit. According to the obtained pair The numerical results identify multiple levels of hierarchical networks.

In this embodiment, when performing network hierarchical processing on the low-orbit satellite network, the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit can be used. , use the dichotomy method for large numbers to obtain the domain network corresponding to the highest level hierarchical network. Furthermore, according to the number of orbits in the domain network corresponding to the highest-level hierarchical network and the number of satellites in each orbit, the next highest-level hierarchical network is obtained by using the dichotomy method for the maximum value of the number of orbits and the number of satellites in each orbit. The domain network corresponding to the hierarchical network is deduced in turn, so as to obtain the domain network corresponding to the hierarchical network at different levels. It is also possible to determine the total number of all satellites in domain networks corresponding to different levels of hierarchical networks based on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit, and combine all satellites in the domain networks corresponding to different levels of hierarchical networks. The total number of satellites is divided according to different proportions, thereby obtaining domain networks corresponding to different levels of hierarchical networks.

S202: According to the preset time period, obtain the current weight of each satellite in the domain network corresponding to the lowest level network.

In this embodiment, the length of the inter-satellite link of each satellite in the domain network corresponding to the lowest level network can be obtained in real time according to the preset time period. When the length of the inter-satellite link reaches the preset inter-satellite link length, In this case, the length of the inter-satellite link of each satellite is used as the current weight of each satellite. It is also possible to periodically obtain the length of the inter-satellite link of each satellite in the domain network corresponding to the lowest level network, and use the length of the inter-satellite link of each satellite as the current weight of each satellite.

S203. If there is a current weight that is smaller than the last historical weight, update the historical routing information of each satellite in the domain network corresponding to the lowest level network to obtain the corresponding current routing information, where the historical routing information includes the last historical weight. .

In this embodiment, routing information includes satellites, destination satellites, and weights from satellites to destination satellites. If the current weight is smaller than the previous historical weight, the corresponding historical weight needs to be updated to obtain the current routing information of each satellite. For example, the domain network includes satellite A, satellite B, satellite C, and satellite D. Among them, the historical routing information of satellite A includes the historical weight 0 from satellite A to destination satellite A, the historical weight 1.2 from satellite A to destination satellite B, the historical weight 1 from satellite A to destination satellite C, and the historical weight 1 from satellite A to destination satellite D. Weight 1. The candidate weights of satellite A are AA=0, AB=1.2, AC=0.8 and AD=1. Then the candidate routing information of satellite A is the candidate weight 0 from satellite A to destination satellite A, and the candidate weight from satellite A to destination satellite B. 1.2, the candidate weight from satellite A to destination satellite C is 0.8, and the candidate weight from satellite A to destination satellite D is 1.

In this embodiment, similarly, the same method is used for satellite B, satellite C and satellite D to obtain corresponding candidate routing information. The candidate routing information corresponding to each satellite is used as the current routing information corresponding to each satellite. Furthermore, based on the candidate routing information of each satellite, the weights of satellites whose routing information changes can be synchronized to other satellites to obtain the current routing information of each satellite and complete the convergence of the domain network.

S204, if the current routing information of each satellite meets the triggering condition, update the routing information corresponding to the upper level network of the lowest level hierarchical network according to the current routing information of each satellite; wherein, the triggering condition is that the current routing information of the satellite makes the previous hierarchical network The change amount of routing information corresponding to the level-level network is greater than or equal to the preset change amount threshold.

In this embodiment, when the domain network completes convergence and the routing information of the domain network changes, the current routing information of each satellite of the domain network will affect the corresponding weight of the upper level network of the lowest level network (that is, the current routing information of each satellite). The routing information satisfies the triggering conditions), as shown in Figure 3. Assume that the preset change threshold is 0.2. When the Motif (E) and Motif (S) domain networks complete the convergence, due to the convergence of the Motif (E) domain network, the ES satellite The weight of the link changes, resulting in the weight change of the BE inter-satellite link being greater than or equal to the preset change threshold compared to the last time, then it is necessary to update the lowest level network based on the current routing information of each satellite. Routing information corresponding to the previous level network.

In this embodiment, if the upper-level hierarchical network of the lowest-level hierarchical network is composed of two adjacent domain networks, the upper-level hierarchical network can be configured based on the current routing information of each satellite after the two domain networks have converged respectively. The corresponding routing information is updated. If the upper level network of the lowest level network is composed of four adjacent domain networks as shown in Figure 3, after the four domain networks have converged respectively, Motif(E) and The convergence of the two domain networks of Motif (S), the convergence of the two domain networks of Motif (E) and Motif (F), the convergence of the two domain networks of Motif (F) and Motif (G), the convergence of Motif (G) and Motif ( S) Convergence of the two domain networks.

Further, if the current routing information of each satellite does not affect the weight corresponding to the hierarchical network of the lowest level and the hierarchical network of the previous level, there is no need to continue to update the weight of the hierarchical network of the previous level of the lowest level network. For example, the first-level hierarchical network is the highest-level hierarchical network, the second-level hierarchical network is the next-level hierarchical network of the highest-level hierarchical network, and the third-level hierarchical network is the lowest-level hierarchical network. If the current routing information of each satellite in the domain network of the third-level network does not affect the corresponding weight of the second-level network, there is no need to update the weight information of the second-level network.

It should be noted that this application obtains the current weight of each satellite in the domain network corresponding to the lowest level network according to the preset time period, and further executes the corresponding technical solutions of S203 and S204 based on the current weight. When the next preset duration start time is reached, the current weight of each satellite in the domain network corresponding to the lowest level network is reacquired, and the corresponding technical solutions of S203 and S204 are continued.

In the above route generation method, based on the first number of orbits in the low orbit satellite network and the second number of satellites in each orbit, network hierarchical processing and network domain classification processing are performed on the low orbit satellite network to obtain multiple levels of hierarchical networks and The domain network corresponding to the hierarchical network. And obtain the current weight of each satellite in the domain network corresponding to the lowest level network. If there is a current weight that is smaller than the previous historical weight, update the historical routing information of each satellite in the domain network corresponding to the lowest level network. Get the corresponding current routing information. Further, if the current routing information of each satellite satisfies the triggering condition, the routing information corresponding to the upper level network of the lowest level hierarchical network is updated according to the current routing information of each satellite; where, the triggering condition is that the current routing information of the satellite makes the upper level network The change amount of the routing information corresponding to the first-level hierarchical network is greater than or equal to the preset change amount threshold. This disclosure performs hierarchical domain processing on the low-orbit satellite network, and divides the low-orbit satellite network into different levels of hierarchical networks and domain networks corresponding to the level-level networks. When the routing information of each satellite in the low-orbit satellite network changes, Only the lowest level The routing information is updated in the domain network corresponding to the hierarchical network. If the routing information of the domain network corresponding to the lowest-level hierarchical network affects the hierarchical network above the lowest-level hierarchical network, the domain network of the hierarchical network above the lowest-level hierarchical network will be updated and analyzed layer by layer. All routing information of the entire low-orbit satellite network needs to be updated to ensure rapid convergence of a large-scale low-orbit satellite network even with limited on-board computing resources.

Figure 4 is a schematic flowchart of hierarchical domain division of a low-orbit satellite network in one embodiment. As shown in Figure 4, this embodiment of the present application relates to how to use the low-orbit satellite network according to the first number of orbits and the number of satellites in each orbit. The second number, perform network hierarchical processing and network domain processing on each low-orbit satellite network to obtain a possible implementation of multiple levels of hierarchical networks and domain networks corresponding to the hierarchical networks. The above S201 may include the following step:

S401. Determine the first logarithmic result according to the first quantity, and determine the second logarithmic result according to the second quantity.

In this embodiment, the first logarithmic result can be obtained by using 2 as the base and the first number of orbits as the real number. Alternatively, the first logarithmic result can be obtained by using 10 as the base and the first number of orbits as the real number. Count the results. Similarly, when determining the second logarithmic result based on the second quantity, the second quantity is used as a true number to obtain the corresponding second logarithmic result. For example, if the first quantity is 16, the second quantity is 8, and the base is 2, then the first logarithmic result is log ₂ 16 = 4, and the second logarithmic result is log ₂ 8 = 3.

S402. Determine multiple levels of orbit dimension hierarchical networks based on the first logarithmic result, or determine multiple levels of satellite dimension hierarchical networks based on the second logarithmic result, where the multiple level hierarchical networks are multiple levels of orbit dimension hierarchical networks. or multiple levels of satellite dimensional hierarchical networks.

In this embodiment, the multi-level orbital dimension hierarchical network can be determined based on the first logarithmic result or the supremum of the first logarithmic result. When the first logarithmic result is an integer, the first logarithmic result is directly determined based on the first logarithmic result. For a multi-level orbit dimension hierarchical network, if the first logarithm result is a non-integer, the first logarithm result is rounded up to determine the multi-level orbit dimension hierarchical network. As shown in Figure 5, for the inclined orbit constellation, since the number of orbits is 16, it can be divided into 4 levels of orbit dimension hierarchical networks. The black thick solid line is the first level (the highest level) orbital dimension hierarchical network, the black thick dotted line is the second level (the next highest level) orbital dimension hierarchical network, the black thin solid line is the third level (the lowest level above) The first level) orbital dimension hierarchical network, the thin black dotted line is the fourth level (lowest level) orbital dimension hierarchical network; since the number of satellites in each orbit is 8, there are multiple levels of satellite dimension hierarchical networks. The black thick dotted line is the first level (highest level) satellite dimension hierarchical network, the black thin solid line is the second level (next to the highest level) satellite dimension hierarchical network, and the black thin dotted line is the third level (lowest level) satellite dimension hierarchical network. As shown in Figure 6, for the polar orbit constellation, since the number of orbits is 6, it can be divided into 3 levels of orbital dimension hierarchical networks. The thick black dotted line is the first level (highest level) orbital dimension hierarchical network, the black thin solid line is the second level (next level to the highest level) orbital dimension hierarchical network, the black thin dotted line is the third level (lowest level) orbital dimension network hierarchical network. Since the number of satellites in each orbit is 11, it can be divided into 4 levels of satellite dimension hierarchical networks. The black thick solid line is the first level (the highest level) satellite dimension hierarchical network, the black thick dotted line is the second level (the next highest level) satellite dimension hierarchical network, the black thin solid line is the third level (the lowest level above) The first level) satellite dimension hierarchical network, the black thin dotted line is the fourth level (lowest level) satellite dimension hierarchical network.

S403: Determine hierarchical networks at each level and domain networks corresponding to the hierarchical networks at each level based on the ratio between the first number and the second number.

In this embodiment, the ratio of the first quantity to the second quantity can be compared with 1. If the ratio is greater than 1, the number of orbits of the low-orbit satellite network is divided to obtain a domain network of the highest level network. If the ratio is less than 1, the number of satellites in the low-orbit satellite network is divided to obtain the domain network of the highest level network.

Specifically, "S403, determine the hierarchical network at each level and the domain network corresponding to the hierarchical network at each level according to the ratio between the first quantity and the second quantity." This can be achieved in the following three ways:

The first method: If the absolute value of the difference between the ratio and 1 is less than or equal to the first preset difference, then divide the highest-level hierarchical network into a four-part domain network; according to the obtained four-part domain network The number of orbits and the number of satellites in each orbit determines the domain network corresponding to the next-level hierarchical network of the highest-level hierarchical network until the domain network of the four-point cyclic motif is obtained.

Among them, the domain network of the four-point cyclic motif is a closed-loop structure composed of four satellites and four inter-satellite links interconnecting each other. For example, in Figure 1 above, satellite (x, y), satellite (x+1 , y), satellite (x, y+1), satellite (x+1, y+1) and the inter-orbital link and intra-orbital link connecting any two satellites constitute a domain network of four-point cyclic pattern.

Normally, any satellite belongs to four different domain networks of four-point cyclic motifs, and any inter-satellite link belongs to two different domain networks of four-point cyclic motifs. The domain network identification of the four-point cyclic motif is identified by the last satellite in the movement direction of the domain network of the four-point cyclic motif. As shown in Figure 7, due to the upward movement of the satellite and the rightward movement of the orbit, the satellites C and D , E and S and their inter-satellite links are identified by satellite E and expressed as Motif(E); among them, the domain network motion direction of the four-point cyclic motif not only refers to the reverse direction of the orbital plane caused by the rotation of the earth The direction of movement, and refers to the direction of movement of the satellite around the orbital plane.

The domain network of the four-point cyclic motif has stability, closure, completeness, self-healing and tendency. Stability means that the relative relationship of the four inter-satellite link lengths of the four-point closed-loop model moving between high and low latitudes remains unchanged; according to the calculation formula of the intra-orbit link and the calculation formula of the inter-orbit link, it can be seen that the orbit at high latitudes The length of the inter-orbital link is smaller than the length of the inter-orbital link at low latitudes, and the length of the intra-orbital link remains basically unchanged. Therefore, the domain network structure of the four-point cyclic motif moving between high and low latitudes is in a stable state. Closeness means that the domain network of the four-point loop motif is a closed network. There are two routes between any two satellites. When an inter-satellite link fails, the four-point loop motif can always be connected to the four-point loop motif. A backup route is found within the domain network. Completeness means that all satellites and inter-satellite links in the low-orbit satellite network belong to a certain motif, and the union of satellites and inter-satellite links in all motifs is a complete low-orbit satellite network. As shown in Figure 8, self-healing means that any inter-satellite link failure can be Find the backup route in the module to which the inter-satellite link belongs and replace the faulty inter-satellite link. The trend means that the shorter inter-orbital links in the four-point loop pattern always point in the direction of high latitudes.

Optionally, the first preset difference value may be 0.2, 0.1, etc., and this embodiment of the present application does not limit this.

In this embodiment, taking the first preset difference value as 0.2 as an example, the ratio between the first quantity and the second quantity can be in the range of 0.8 to 1.2. In this case, it is considered that the number of tracks in the highest level network is related to each The number of satellites in orbit is equal. The number of orbits and the number of satellites can be divided into two sub-domains respectively, that is, the highest-level network is divided into a four-sub-domain domain network.

In this embodiment, the ratio between the number of orbits in the four-domain domain network and the number of satellites in each orbit is further judged, thereby determining the domain network corresponding to the next-level hierarchical network of the highest-level hierarchical network. If the number of orbits in the domain network corresponding to the next-level hierarchical network of the highest-level hierarchical network is almost the same as the number of satellites in each orbit, then the number of orbits and the number of satellites are divided into two sub-domains respectively until a four-point cyclic model is obtained. to the entire domain network.

The second method: If the absolute value of the difference between the ratio and 2 is less than or equal to the second preset difference, the highest-level hierarchical network is divided into a bipartite domain network; according to the obtained bipartite domain domain network, the orbit number and the number of satellites in each orbit, determine the domain network corresponding to the next-level hierarchical network of the highest-level hierarchical network, until the domain network of the four-point cyclic motif is obtained.

Optionally, the second preset difference value may be 0.2, 0.1, etc., and this embodiment of the present application does not limit this.

In this embodiment, taking the second preset difference value as 0.3 as an example, the ratio between the first quantity and the second quantity may be in the range of 1.7 to 2.3. In this case, the number of orbits may be approximately twice the number of satellites in each orbit, or the number of satellites in each orbit may be approximately twice the number of orbits. If the number of orbits is approximately twice the number of satellites in each orbit, the number of orbits can be divided into two sub-domains, and the number of satellites is not divided into sub-domains. As shown in Figure 5 above, the number of orbits is 16, and the number of satellites in each orbit is 8. The high-level hierarchical network can be divided into two sub-domains including 8 orbits and 8 satellites in each orbit. If the number of satellites in each orbit is approximately twice the number of orbits, the number of satellites can be divided into two sub-regions, and the number of orbits is not divided into regions. As shown in Figure 6 above, the number of orbits is 6, and the number of satellites in each orbit is 11, the high-level hierarchical network can be divided into two sub-domains including 6 orbits, 7 satellites in each orbit, and 6 orbits, and 6 satellites in each orbit.

In this embodiment, the first number and the second number are used to divide the highest-level hierarchy into a domain network of two-part domains. According to the number of orbits in the obtained domain network of two-part domains and the number of satellites on each orbit, the two-part domain The domain network is further divided. As shown in Figure 5 above, the first-level hierarchical network is still the highest-level hierarchical network, the second-level hierarchical network is the next-level hierarchical network of the highest-level hierarchical network, and so on. If the number of orbits in the domain network of the bipartite domain is approximately the same as the number of satellites on each orbit (that is, the difference between the ratio and 1 is less than or equal to the first preset difference), then each domain network of the bipartite domain is divided into 4 The domain network of sub-domains, that is, the second level (thin black solid line) hierarchical network includes 8 sub-domains. According to the number of orbits in the 8-subdomain domain network and the number of satellites in each orbit, the number of orbits in the 8-subdomain domain network and the number of satellites in each orbit are approximately the same (that is, the difference between the ratio and 1 is less than or equal to first preset difference), then each domain network of 8 sub-domains is divided into a domain network of 4 sub-domains, that is, the third level (black thin solid line) hierarchical network includes 32 sub-domains until the fourth level is obtained (Thin black dotted line) The domain network of the hierarchical network, a total of 128 domain networks of four-point cyclic motifs.

The third method: If the absolute value of the difference between the ratio and 3 is less than or equal to the third preset difference, then divide the highest-level hierarchical network into a three-domain domain network; according to the obtained three-domain domain network The number of orbits and the number of satellites in each orbit determines the domain network corresponding to the next-level hierarchical network of the highest-level hierarchical network until the domain network of the four-point cyclic motif is obtained.

Optionally, the third preset difference value may be 0.2, 0.1, etc., and this embodiment of the present application does not limit this. The first preset threshold, the second preset threshold and the third preset threshold may be the same or different.

In this embodiment, taking the first preset difference as 0.2 as an example, the ratio of the first quantity to the second quantity can be in the range of 0.8 to 1.2. In this case, the number of orbits can be approximately the number of satellites in each orbit. 3 times, or the number of satellites in each orbit is approximately 3 times the number of orbits. If the number of orbits is approximately three times the number of satellites in each orbit, the number of orbits can be divided into three sub-domains, and the number of satellites is not divided into sub-domains. For specific domain division methods, please refer to the second method above.

Combining the above three methods, network domain processing is performed on the low-orbit satellite network shown in Figure 6 above. The first-level hierarchical network is still the highest-level hierarchical network, the second-level hierarchical network is the next-level hierarchical network of the highest-level hierarchical network, and so on. The first level (thick black dotted line) hierarchical network divides the number of satellites to obtain a two-domain domain network. The second level (black thin solid line) hierarchical network includes 8 domain networks, and the third level (black thin solid line) hierarchical network includes 21 domain networks. Since some domain networks in the third-level hierarchical network are already four-point cyclic motif domain networks, the domain networks in the third-level hierarchical network that have not yet obtained the four-point cyclic motif are hierarchically divided, and the fourth level (black Thin dotted line) hierarchical network, the fourth level hierarchical network has a total of 66 domain networks, and all 66 domain networks are domain networks of four-point cyclic motifs.

It should be noted that when the ratio is between any two of the above three methods, any one of them will be used. For example, when the ratio is 1.5, either the first method or the second method can be used.

Furthermore, the above division of the domain network can also be understood as: the first number of orbits and the second number of satellites in each orbit can be divided into the same order of magnitude (2, 4, 8, 16, 32, 64 ...), assuming that the first quantity is 72, the second quantity is 22, and the second quantity is between 16-32, then the first quantity is also divided into 16-32 (72/3=24), Then divide 24 and 22 until the domain network of the four-point cyclic motif is obtained.

In the embodiment of the present application, multiple levels of orbit dimension hierarchical networks or multiple levels of satellite dimension hierarchical networks are determined based on the first number and the second number, and each level hierarchical network is further determined based on the ratio between the first number and the second number. And the domain network corresponding to each level of hierarchical network. In this method, the large-scale low-orbit satellite network is hierarchically divided into domains until a four-point cyclic pattern domain network is obtained, which lays an important foundation for the subsequent rapid convergence of the low-orbit satellite network.

Figure 9 is a schematic flowchart of determining current routing information in one embodiment. As shown in Figure 9, this embodiment of the present application involves how to update the historical routing information of each satellite in the domain network corresponding to the lowest level hierarchical network to obtain the corresponding current routing information. A possible implementation of routing information. The above-mentioned S203 of updating the historical routing information of each satellite in the domain network corresponding to the lowest level network to obtain the corresponding current routing information may include the following steps:

S901: Update the last historical weight of the corresponding satellite using a current weight that is smaller than the last historical weight.

In this embodiment, as shown in Figure 10, the hierarchical domain identification method uses layer-by-layer (different levels) segmentation for identification. Each segment identifies the domain network of a certain level hierarchical network, and the global network of any domain network. The identification needs to be identified by the identification field of the local network and the field of the higher-level hierarchical network. The identification of the domain network of the first-level hierarchical network is only identified by the identification field of the domain network of the first-level hierarchical network. The identification field of the second-level hierarchical network is used. The identification of the domain network needs to be identified by the identification field of the domain network of the first-level hierarchical network and the second-level hierarchical network, and so on. Among them, the domain network of the four-point cyclic motif is the basic unit for hierarchical domain classification. In this embodiment, the orbits and satellites can be numbered. The orbit number is first converted into a binary form, and different binary bit combinations of the orbit number and the in-orbit satellite number are selected to identify domain networks and satellites of different levels of hierarchical networks. For the inclined orbit constellation shown in Figure 4 above, the constellation contains 16 orbits, each orbit contains 8 satellites. The first level is divided into two sub-domains in terms of the number of orbits, and there is no sub-domain in terms of the number of satellites. , so m1=0 or m1=1, n1=0, the set of domain networks of the first-level hierarchical network can be expressed as {00, 10}. It can be seen in turn that the set of domain networks of the second-level hierarchical network can be expressed as: {0000, 0001, 0010, 0011, 1000, 1001, 1010, 1011}, and the set of domain networks of the third-level hierarchical network can be expressed as: { 000000, 000001, 000010, 000011, 000100, 000101, 000110, 000111, 001000, 001001, 001010, 001011, 001100, 001101, 001110, 001111, 100000, 1000 01, 100010, 100011, 100100, 100101, 100110, 100111, 101000, 101001, 101010, 101011, 101100, 101101, 101110, 101111}. The set of domain networks of the fourth level hierarchical network can be expressed as: {00000000, 00000001, 00000010, 00000011, ..., 10111100, 10111101, 10111110, 10111111}.

For the polar orbit constellation shown in Figure 6 above, the constellation contains 5 orbits and 11 satellites in each orbit. The first-level network is divided into two sub-domains in terms of the number of satellites. In terms of the number of orbits, There is no division. Therefore m1=0, n1=0 or n1=1. The set of domain networks of the first-level hierarchical network can be expressed as {00, 01}. It can be seen in turn that the set of domain networks of the second-level hierarchical network can be expressed as: {0000, 0001, 0010, 0011, 0100, 0101, 0110, 0111}, and the set of domain networks of the third-level hierarchical network can be expressed as: { 000000, 000001, 000010, 000011, 000100, 000101, 000110, 000111, 001000, 001100, 010000, 010001, 010010, 010011, 010100, 010101, 011000, 0110 10,011100}. The set of domain networks of the fourth level hierarchical network can be expressed as: {00000000, 00000001, 00000010, 00000011, ..., 01110000, 01110001, 01110010, 01110011}.

In this embodiment, adjacent satellites establish a connection and exchange satellite identities, and based on the received satellite identities, it is determined whether the connected satellite is a physical neighbor satellite. If it is a physical neighbor satellite, the adjacent satellite establishes a connection and starts communication; otherwise, continues to search for the correct physical neighbor satellite.

The adjacent satellites that have communicated calculate the inter-satellite link length between each satellite. When the inter-satellite link length reaches the preset value, the link length is used as the current weight of each satellite. As shown in Figure 11, assuming that inter-satellite links CS, CD and DE have successfully established connections and generated routing information, the inter-satellite link weights are CD=0.9, ES=1.1, DE=1.0, CS=1.0 respectively. The routing information of satellite S, satellite C, satellite D and satellite E is shown in Table 1-Table 4 below:

Table 1

Table 2

table 3

Table 4

When satellite E and satellite S begin to establish a connection and communicate, the length of the inter-satellite link ES is calculated. Satellite E and satellite S respectively generate routes ES=1.1 to the opposite end. At this time, new routing information (5*, 6*, 7*, 8*) is added to satellite C, satellite D, satellite E and satellite S respectively. The results of adding routing information to satellite E are shown in Table 5:

table 5

For satellite E, when arriving at the same destination satellite, there are two routing information. Select the smallest weight as the routing information of the destination satellite of satellite E. The merged routing information of satellite E is shown in Table 6:

Table 6

Similarly, the results of adding routing information to satellite S are shown in Table 7:

Table 7

For satellite S, the routing information of satellite S after the merger is shown in Table 8:

Table 8

Similarly, new routing information is added to satellite C and satellite D respectively, and then merged. Because the merged routing information of satellite C and satellite D has not changed compared with the previous historical weight, this embodiment will not be described in detail here. .

S902: The first routing information is exchanged between the satellite whose weight has been updated and the satellite whose weight has not been updated, to determine the first optimized weight of the satellite whose weight has been updated and the satellite whose weight has not been updated.

In this embodiment, it can be known from the above S901 that the satellites whose weights have been updated are satellite E and satellite S, and the satellites whose weights have not been updated are satellites C and satellite D. There is a gap between the satellites whose weights have been updated and the satellites whose weights have not been updated. Exchange first routing information. Therefore, satellite D and satellite E interact with the first routing information, and satellite C and satellite S interact with the first routing information. The routing tables after adding the first routing information to satellite D and satellite E respectively are as shown in Table 9 and Table 10:

Table 9

Table 10

The routing information of satellite E and satellite D are merged respectively. The results are shown in Table 11 and Table 12:

Table 11

Table 12

Similarly, the routing tables of satellite C and satellite S after adding the first routing information are as shown in Table 13 and Table 14:

Table 13

Table 14

The routing information of satellite C and satellite S are merged respectively, and the results are shown in Table 15 and Table 16:

Table 15

Table 16

S903: Exchange second routing information between satellites whose weights have not been updated to determine the second optimized weights of satellites whose weights have not changed to obtain current routing information.

In this embodiment, the second routing information is exchanged between satellites whose weights have not been updated. Therefore, the second routing information is exchanged between satellite C (Table 15) and satellite D (Table 16). Satellite C and satellite The results of D adding the second routing information are shown in Table 17 and Table 18 below:

Table 17

Table 18

Merge the routing information of satellite C and satellite D, and select the optimal weight to reach the destination satellite. The results are shown in Table 19 and Table 20 below:

Table 19

Table 20

Through the interaction between the above satellites, the synchronization of routing information of each satellite in the domain network corresponding to the lowest-level hierarchical network (that is, the domain network of the four-point cyclic pattern) is completed. Since the weights of satellite C and satellite D to the destination satellite are on the optimal path, the interaction between satellite D and satellite E, the interaction between satellite E and satellite S, and the interaction between satellite C and satellite D are The routing information of satellites in the domain network corresponding to the lowest level network is not affected.

In this embodiment of the present application, by using a current weight that is smaller than the last historical weight to update the last historical weight of the candidate corresponding to the satellite, the first routing information is exchanged between the satellite whose weight has been updated and the satellite whose weight has not been updated, so as to Determine the first optimized weight of the satellite whose weight has been updated and the satellite whose weight has not been updated, and interact with the second routing information between the satellites whose weight has not been updated to determine the second optimized weight of the satellite whose weight has not changed, to obtain Current routing information. This method controls the impact of inter-satellite link length changes to the smallest possible range, effectively reduces the impact of inter-satellite link changes on the entire network, and uses the four-point cycle pattern to achieve low self-healing of the domain network. Rapid convergence of orbital satellite networks.

Figure 12 is a schematic flowchart of determining the routing information of adjacent domain networks in one embodiment. As shown in Figure 12, this embodiment of the present application relates to how to update the routing information corresponding to the upper level network based on the current routing information of each satellite. As a possible implementation method, the above S204 includes the following steps:

S1201. Based on the first optimization weight and/or the second optimization weight of the public satellite between two adjacent domain networks, determine the third optimization weight corresponding to other satellites in the two domain networks except the public satellite, and provide the information to other satellites. The third optimization weight and the identification of the destination satellite of the other satellite are sent, wherein the current routing information includes the first optimization weight and/or the second optimization weight of the public satellite.

In this embodiment, the route generation method of two adjacent domain networks is a process in which the common satellites of the adjacent domain networks calculate the affected inter-satellite links and reselect new paths when intra-domain routes change. The public satellite of the domain network calculates the minimum weight between other satellites (the third optimized weight), and sends the calculated minimum weight to the other satellites. If a satellite belongs to a public satellite of multiple hierarchical networks at the same time, it should only be used as a public satellite of the highest hierarchical network. Routing calculations for adjacent domain networks will not be performed between domain networks of lower hierarchical networks.

Specifically, when adjacent domain networks have completed route convergence, route convergence of higher-level hierarchical networks is triggered. The route convergence process of higher-level hierarchical networks is the same as the convergence process of domain networks. As shown in Figure 13, it is assumed that the weights of each satellite are as follows: DE=1.0, CS=1.0, AB=1.0, CD=0.9, BC=0.8, AS=1.0, ES=1.1. In order to facilitate the calculation of routing information between domain networks, the public satellite routing information in Motif(S) and Motif(E) is split. After both Motif(E) and Motif(S) complete convergence, Motif(S) The routing information of the satellite is shown in Table 21-Table 24 below:

Table 21

Table 22

Table 23

Table 24

The routing information of Motif(E) satellites is shown in Table 25-Table 28 below:

Table 25

Table 26

Table 27

Table 28

First, satellite S calculates the weight between satellites in two adjacent domain networks. Since satellite S and satellite C are common satellites, the calculation is not performed.

Satellite S calculates the third optimal weight between satellite A and satellite D as 1.0+1.9=2.9, sends the identification sum of satellite D and 2.9 to satellite A, and sends the identification sum of satellite A and 2.9 to satellite D; satellite S calculates the satellite The third optimization weight between A and satellite E is 1.0+1.1=2.1. The identification sum 2.1 of satellite E is sent to satellite A, and the identification sum 2.1 of satellite A is sent to satellite E; satellite S calculates satellite B and satellite D. The third optimal weight between them is 1.8+1.9=3.7. The identification sum of satellite D and 3.7 are sent to satellite B, and the identification sum of satellite B and 3.7 are sent to satellite D; satellite S calculates the third optimization weight between satellite B and satellite E. The three optimization weights are 1.0+1.9=2.9, the identification of satellite E and 2.9 are sent to satellite B, and the identification of satellite B and 2.9 are sent to satellite E.

Satellite C calculates the third optimization weight between satellite A and satellite D as 1.8+0.9=2.7, sends the identification sum of satellite D and 2.7 to satellite A, and sends the identification sum of satellite A and 2.7 to satellite D; satellite C calculates the satellite The third optimization weight between A and satellite E is 1.8+1.9=3.7. The identification sum of satellite E and 3.7 are sent to satellite A, and the identification sum of satellite A and 3.7 are sent to satellite E; satellite C calculates satellite B and satellite D. The third optimization weight between satellites is 0.8+0.9=1.7. The identification and 1.7 of satellite D are sent to B, and the identification and 1.7 of satellite B are sent to satellite D; satellite C calculates the third optimization weight between satellite B and satellite E. The optimization weight is 0.8+1.9=2.7, the identity of satellite E and 2.7 are sent to satellite B, and the identity of satellite B and 2.7 are sent to satellite E.

S1202. If the identification of the destination satellite does not exist in the routing information of other satellites, update the third optimization weight to the routing information of other satellites.

In this embodiment, when other satellites in the domain network receive the third optimization weight sent by the public satellite and the identification of the destination satellite of other satellites, they check whether the satellite exists in the routing information of other satellites based on the identification of the destination satellite. For the corresponding destination satellite, if the destination satellite does not exist, the identifier of the destination satellite and the third optimization weight are added to the routing information.

Based on the above embodiment, when satellite A, satellite B, satellite D and satellite E receive the third optimization weight and the identification of the destination satellite from satellite S, because satellite A and satellite B have not reached the destination, satellite D and satellite E The routes of destination satellite E, satellite D and satellite E also do not have routes to destination satellite A and destination satellite B, so new routing information is added to the four satellites respectively. Among them, the destination satellite is the received satellite identification, the next hop is the next hop to the public satellite, the weight is the received third optimized weight, and the new routing information of satellite A, satellite B, satellite D and satellite E The updates are as shown in Table 29-Table 32 below:

Table 29

Table 30

Table 31

Table 32

S1203. If the identification of the destination satellite exists in the routing information of other satellites, and the third optimization weight is smaller than the weight corresponding to the identification of the destination satellite existing in the routing information, the third optimization weight is used to replace the weight corresponding to the identification of the destination satellite.

Similarly, when receiving the identification of the destination satellite and the third optimization weight sent by public satellite C, since satellite A, satellite B, satellite D and satellite E already have the identification of the destination satellite, the received third optimization weight needs to be The weight is compared with the weight corresponding to the identification of the destination satellite that already exists in the satellite, and the smallest weight between the two is selected as the weight between other satellites and the destination satellite. The adjustment of the routing information of Satellite A, Satellite B, Satellite D and Satellite E is divided into two steps: adding routing information and merging routing information. The new routing information of Satellite A, Satellite B, Satellite D and Satellite E are as shown in Table 33-Table 36 Shown:

Table 33

Table 34

Table 35

Table 36

The routing information after merging satellite A, satellite B, satellite D and satellite E is shown in Table 37-Table 40 below:

Table 37

Table 38

Table 39

Table 40

In the embodiment of the present application, the third optimization weight of satellites other than the public satellite in the two domain networks is determined based on the first optimization weight and/or the second optimization weight of the public satellite between two adjacent domain networks, and Send the third optimized weight and the identification of the destination satellite of other satellites to other satellites, and further determine whether the identification of the destination satellite exists in the routing information of other satellites, thereby selecting the optimal weight to achieve convergence of the adjacent domain network. This method changes the routing information of the upper level network after both adjacent domain networks have completed convergence, and expands it layer by layer and domain by domain, reducing the impact of inter-satellite links on the entire low-orbit satellite network, and only Involving some low-orbit satellites, the calculation speed is fast and it can respond quickly to changes in the low-orbit satellite network.

Figure 14 is a schematic flowchart of determining the current weight of a satellite in one embodiment. As shown in Figure 14, this embodiment of the present application relates to how to determine the current weight of a satellite based on the inter-satellite link length. Possible implementation methods include the following steps:

S1401: Obtain the inter-satellite link length between satellites in the domain network corresponding to the lowest level network according to the preset time length.

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

C＝sin(Lat _P )*sin(Lat _Q )+cos(Lat _P )*cos(Lat _Q )*cosγ
Lap _P = arcsin(sinαsin(u ₀ ))
Lat _Q = arcsin(sinαsin(u ₀ +Δf))

β=Lon _Q -Lon _P =ζ(u ₀ +Δf)-ζ(u ₀ )

In the above formula, DPQ represents the link length between satellite P and satellite Q; R represents the distance from the center of the earth to the satellite; C represents the cosine of the geocentric angle POQ, O is the center of the earth; LatP represents the latitude of satellite P; LatQ represents the latitude of satellite Q; α represents the orbital inclination; u0 represents the initial phase angle of the satellite; Δf represents the phase difference between satellites in the orbit; β represents the relative longitude difference between satellites P and Q; γ represents the longitude of satellite P and satellite Q Absolute difference; ζ(u0) represents the longitude difference corresponding to the satellite phase angle.

The formula for calculating the distance between rails is as follows:

C＝sin(Lat _P )*sin(Lat _Q )+cos(Lat _P )*cos(Lat _Q )*cosγ
Lap _P = arcsin(sinαsin(u ₀ ))
Lat _Q = arcsin(sinαsin(u ₀ +pF))

Among them, in the above formula, p represents the phase offset of adjacent satellites in adjacent orbits; F represents the phase factor; Represents the phase difference between adjacent orbital planes.

S1402. If the change in inter-satellite link length is greater than or equal to the preset change threshold, use the inter-satellite link length as the current weight of the corresponding satellite.

In this embodiment, the preset change thresholds are 0.2, 0.1, 0, etc., which are not limited in this embodiment. Assume that the last historical in-orbit link length of satellite A and satellite D is 1, and the preset change threshold is 0.2. According to the above calculation formula, the current in-orbit link length is 1.2, then the in-orbit link length is 1.2 As the current weight of satellite A and satellite D at the current time. If the current in-orbit link length 1.1 is obtained according to the above calculation formula, then the last historical in-orbit link length 1 is used as the current current weight of satellite A and satellite D.

In the embodiment of this application, by obtaining the inter-satellite link length between satellites in the domain network corresponding to the lowest level network, when the inter-satellite link length is greater than or equal to the preset length threshold, the inter-satellite link length is As the current weight of the corresponding satellite. Since the inter-satellite link does not change very much during the movement of the satellite, this method obtains the current weight of the satellite when the length of the inter-satellite link meets a certain condition, avoiding the network overhead caused by obtaining the weight of each satellite and updating routing information. Bandwidth resource consumption problem.

In one embodiment, the method of the present application can be applied to update routing information of a low-orbit satellite network during its movement.

The routing update mechanism refers to the change in inter-satellite link length caused by the movement of satellites. Routing information needs to be updated regularly, level by level and domain by domain, so that the optimal path between any two points is maintained. The timing of inter-satellite link length calculation is determined by the speed at which the length of the satellite link changes, and satellite time synchronization is not required.

The fault recovery mechanism means that when the inter-satellite link fails, the routing information of the domain network of the four-point loop module is changed, and it is expanded level by level and domain by domain, and finally achieves the convergence of the entire network routing. This mechanism can Control the impact of inter-satellite link failures to the smallest possible range, and achieve rapid convergence of network-wide routing by utilizing the self-healing properties of the domain network using the four-point loop pattern.

Specifically, when an inter-satellite link fails, the satellite sets the weight of the failed inter-satellite link to infinity, indicating that the inter-satellite link is unreachable, triggers the domain network of the four-point loop pattern to change the weight, and then changes the weight according to The route generation method of the domain network corresponding to the lowest level hierarchical network completes the convergence of the domain network. If the routing information of the domain network corresponding to the lowest level hierarchical network does not affect the routing information of the domain network of the hierarchical network one level above the lowest level, stop updating the routing information of the domain network routing information of the hierarchical network one level above the lowest level. If the routing information of the domain network corresponding to the lowest-level hierarchical network affects the routing information of the domain network of the hierarchical network above the lowest level, the hierarchical network above the lowest level is triggered according to the route production method between two adjacent domain networks. The routing information of the domain network is updated.

It should be understood that although the steps in the flowcharts involved in the above embodiments are shown in sequence as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

Based on the same inventive concept, embodiments of the present application also provide a route generation device for implementing the above-mentioned route generation method. The solution to the problem provided by this device is similar to the solution recorded in the above method. Therefore, for the specific limitations in one or more embodiments of the route generation device provided below, please refer to the limitations on the route generation method above. I won’t go into details here.

In one embodiment, as shown in Figure 15, a route generation device is provided, including: a determination module 11, an acquisition module 12, a first update module 13 and a second update module 14, wherein:

The determination module 11 is configured to perform network hierarchical processing and network domain classification processing on the low-orbit satellite network based on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit, so as to obtain multiple levels of hierarchical networks and The domain network corresponding to the hierarchical network;

The acquisition module 12 is configured to acquire the current weight of each satellite in the domain network corresponding to the lowest level hierarchical network according to a preset time period;

The first update module 13 is configured to update the historical routing information of each satellite in the domain network corresponding to the lowest level hierarchical network to obtain the corresponding current routing information if there is a current weight that is smaller than the last historical weight, where the historical routing information Includes the last historical weight;

The second update module 14 is configured to update the routing information corresponding to the upper level network of the lowest level hierarchical network according to the current routing information of each satellite if the current routing information of each satellite satisfies the triggering condition; wherein, the triggering condition is the The current routing information causes the change amount of the routing information corresponding to the previous level network to be greater than or equal to the preset change threshold value.

In one embodiment, the determination module includes:

A first determination unit configured to determine a first logarithmic result based on the first quantity, and to determine a second logarithmic result based on the second quantity;

The second determination unit is configured to determine multiple levels of orbital dimension hierarchical networks based on the first logarithmic result, or multiple levels of satellite dimension hierarchical networks determined based on the second logarithmic result, wherein the multiple level hierarchical networks are multiple A level orbital dimension hierarchical network or a multiple level satellite dimension hierarchical network;

The third determination unit is configured to determine hierarchical networks at each level and domain networks corresponding to the hierarchical networks at each level based on the ratio of the first quantity and the second quantity.

In one embodiment, the third determination unit is further configured to divide the highest-level hierarchical network into four-domain domain networks when the absolute value of the difference between the ratio and 1 is less than or equal to the first preset difference. ; Based on the number of orbits in the obtained four-domain domain network and the number of satellites in each orbit, determine the domain network corresponding to the next level network of the highest level hierarchical network until the domain network of the four-point cyclic motif is obtained.

In one embodiment, the third determination unit is further configured to divide the highest-level hierarchical network into a domain network of bipartite domains when the absolute value of the difference between the ratio and 2 is less than or equal to the second preset difference; According to the number of orbits in the obtained bipartite domain network and the number of satellites in each orbit, the domain network corresponding to the next level network of the highest level hierarchical network is determined until the domain network of the four-point cyclic motif is obtained.

In one embodiment, the third determination unit is further configured to divide the highest-level hierarchical network into a three-domain domain network when the absolute value of the difference between the ratio and 3 is less than or equal to the third preset difference. ; Based on the number of orbits and the number of satellites in each orbit in the obtained three-domain domain network, determine the domain network corresponding to the next level network of the highest level hierarchical network until the domain network of the four-point cyclic motif is obtained.

In one embodiment, the first update module includes:

The first update unit is configured to update the last historical weight of the corresponding satellite using a current weight that is smaller than the last historical weight;

The fourth determination unit is configured to exchange first routing information between satellites whose weights have been updated and satellites whose weights have not been updated to determine the satellites whose weights have been updated. The first optimized weight of satellites whose satellite sum weights have not been updated;

The fifth determination unit is configured to exchange second routing information between satellites whose weights have not been updated to determine the second optimized weight of satellites whose weights have not changed to obtain current routing information.

In one embodiment, the second update module includes:

The sixth determination unit is configured to determine the third optimization weight corresponding to other satellites in the two domain networks except the public satellite based on the first optimization weight and/or the second optimization weight of the common satellite between the two adjacent domain networks. , and sends the third optimization weight and the identification of the destination satellite of the other satellite to other satellites, where the current routing information includes the first optimization weight and/or the second optimization weight of the public satellite.

In one embodiment, the second update module further includes:

The second update unit is configured to update the third optimization weight to the routing information of other satellites when the identification of the destination satellite does not exist in the routing information of other satellites.

In one embodiment, the second update module further includes:

The replacement unit is configured to use the third optimization weight to replace the identity of the destination satellite when the identity of the destination satellite exists in the routing information of other satellites and the third optimization weight is smaller than the weight corresponding to the identity of the destination satellite that exists in the routing information. corresponding weight.

In one embodiment, the acquisition module includes:

The acquisition unit is configured to acquire the link length between satellites in the domain network corresponding to the lowest level network according to the preset time period;

The seventh element of determination is set to use the link length as the current weight of the corresponding satellite when the change in the link length is greater than or equal to the preset change threshold.

Each module in the above-mentioned route generation device can be implemented in whole or in part by software, hardware and combinations thereof. Each of the above modules may be embedded in or independent of the processor of the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the route generation method provided in the above embodiment are implemented.

In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the route generation method provided in the above embodiment.

It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all It is information and data authorized by the user or fully authorized by all parties.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage. In the media, when executed, the computer program may include the processes of the above method embodiments. Any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory (MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc. Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in many forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM). The databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include blockchain-based distributed databases, etc., but are not limited thereto. The processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to this.

The technical features of the above embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, all possible combinations should be used. It is considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but should not be construed as limiting the patent scope of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

A route generation method, wherein the method includes:

According to the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit, network hierarchical processing and network domain classification processing are performed on the low-orbit satellite network to obtain a plurality of hierarchical networks and the hierarchical network. The domain network corresponding to the network;

According to the preset duration, obtain the current weight of each satellite in the domain network corresponding to the lowest level network;

If there is a current weight that is smaller than the last historical weight, update the historical routing information of each satellite in the domain network corresponding to the lowest level network to obtain the corresponding current routing information, where the historical routing information includes the above One time historical weight;

If the current routing information of each satellite satisfies the triggering condition, the routing information corresponding to the upper level network of the lowest level hierarchical network is updated according to the current routing information of each satellite; wherein, the triggering condition is the The current routing information of the satellite causes the change amount of the routing information corresponding to the upper-level hierarchical network to be greater than or equal to the preset change amount threshold.
The method according to claim 1, wherein the low-orbit satellite network is subjected to network hierarchical processing and network domain division based on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit. Processing to obtain multiple level hierarchical networks and domain networks corresponding to the level hierarchical networks, including:

determining a first logarithmic result based on the first quantity and determining a second logarithmic result based on the second quantity;

A plurality of levels of orbital dimension hierarchical networks are determined according to the first logarithmic result, or a plurality of levels of satellite dimension hierarchical networks are determined according to the second logarithmic result, wherein the plurality of levels of hierarchical networks are the multiple levels of hierarchical networks. A level orbital dimension hierarchical network or a plurality of levels of satellite dimension hierarchical network;

According to the ratio between the first number and the second number, each of the level hierarchical networks and the domain network corresponding to each of the level hierarchical networks are determined.
The method according to claim 2, wherein determining each of the level hierarchical networks and the domain network corresponding to each of the level hierarchical networks according to the ratio between the first number and the second number includes: :

If the absolute value of the difference between the ratio and 1 is less than or equal to the first preset difference, then divide the highest-level hierarchical network into a four-domain domain network;

According to the number of orbits in the obtained four-domain domain network and the number of satellites on each orbit, determine the domain network corresponding to the next level hierarchical network of the highest level hierarchical network until the domain of the four-point cyclic motif is obtained. Until the Internet.
The method according to claim 2, wherein the domain network corresponding to each of the orbital dimension hierarchical networks and the corresponding domain network to each of the satellite dimension hierarchical networks are determined according to the ratio of the first quantity to the second quantity. Domain networks include:

If the absolute value of the difference between the ratio and 2 is less than or equal to the second preset difference, then divide the highest-level hierarchical network into a domain network of bipartite domains;

According to the number of orbits in the obtained bipartite domain network and the number of satellites on each orbit, the domain network corresponding to the next level network of the highest level hierarchical network is determined until the domain network of the four-point cyclic motif is obtained. until.
The method according to claim 2, wherein the domain network corresponding to each of the orbital dimension hierarchical networks and the corresponding domain network to each of the satellite dimension hierarchical networks are determined according to the ratio of the first quantity to the second quantity. Domain networks include:

If the absolute value of the difference between the ratio and 3 is less than or equal to the third preset difference, then divide the highest-level hierarchical network into a three-domain domain network;

According to the number of orbits in the obtained three-domain domain network and the number of satellites on each orbit, the domain network corresponding to the next level hierarchical network of the highest level hierarchical network is determined until the domain of the four-point cyclic motif is obtained. Until the Internet.
The method according to claim 1, wherein updating the historical routing information of each satellite in the domain network corresponding to the lowest level network to obtain the corresponding current routing information includes:

Update the last historical weight of the corresponding satellite using a current weight that is smaller than the last historical weight;

The first routing information is exchanged between the satellite whose weight has been updated and the satellite whose weight has not been updated to determine the first optimized weight of the satellite whose weight has been updated and the satellite whose weight has not been updated;

The second routing information is exchanged between the satellites whose weights have not been updated to determine the second optimized weights of the satellites whose weights have not been changed to obtain the current routing information.
The method according to claim 6, wherein updating the routing information corresponding to the upper-level hierarchical network according to the current routing information of each satellite includes:

According to the first optimization weight and/or the second optimization weight of the common satellite between two adjacent domain networks, determine the third optimization weight corresponding to other satellites in the two domain networks except the public satellite, and provide The other satellite sends the third optimization weight and the identification of the destination satellite of the other satellite, wherein the current routing information includes the first optimization weight and/or the second optimization weight of the public satellite.
The method of claim 7, further comprising:

If the identification of the destination satellite does not exist in the routing information of the other satellite, the third optimization weight is updated to the routing information of the other satellite.
The method of claim 7, further comprising:

If the identification of the destination satellite exists in the routing information of the other satellites, and the third optimization weight is smaller than the weight corresponding to the identification of the destination satellite existing in the routing information, then the third optimization weight is used Replace the weight corresponding to the identity of the destination satellite.
The method according to any one of claims 1 to 9, wherein obtaining the current weight of each satellite in the domain network corresponding to the lowest level hierarchical network according to a preset time period includes:

Obtain the inter-satellite link length between each satellite in the domain network corresponding to the lowest-level hierarchical network according to the preset duration;

If the variation of the inter-satellite link length is greater than or equal to the preset variation threshold, the link length is used as the current weight of the corresponding satellite.
A route generating device, wherein the device includes:

The determination module is configured to perform network hierarchical processing and network domain classification processing on the low-orbit satellite network based on the first number of orbits in the low-orbit satellite network and the second number of satellites in each orbit to obtain a multi-level hierarchical network. The domain network corresponding to the level hierarchical network;

The acquisition module is set to obtain the current weight of each satellite in the domain network corresponding to the lowest level network according to the preset time period;

The first update module is configured to update the historical routing information of each satellite in the domain network corresponding to the lowest level hierarchical network to obtain the corresponding current routing information if there is a current weight that is smaller than the last historical weight, wherein, Historical routing information includes the last historical weight;

The second update module is configured to update the routing information corresponding to the upper level network of the lowest level hierarchical network according to the current routing information of each satellite if the current routing information of each of the satellites satisfies the triggering condition; wherein, The triggering condition is that the current routing information of the satellite causes the change amount of the routing information corresponding to the upper level network to be greater than or equal to a preset change threshold value.
A computer-readable storage medium having a computer program stored thereon, wherein the steps of the method according to any one of claims 1 to 10 are implemented when the computer program is executed by a processor.