Low-orbit satellite beam scheduling and user grouping method and device, equipment and storage medium

Abstract

The invention discloses a low-earth-orbit satellite beam scheduling and user grouping method, device and equipment and a storage medium, and relates to the technical field of communication, and the method comprises the steps: carrying out the stage processing of beam resources of a low-earth-orbit satellite, and obtaining a first-stage beam, a second-stage beam and a third-stage beam; scanning an existing signaling beam position based on the first-stage beam, and determining a target signaling beam position of the user equipment; random access is carried out on the target signaling beam position based on a second-level beam, and the position of user equipment corresponding to the target signaling beam position is determined; clustering the position of the user equipment based on the third-level beam, and determining a user clustering set and a clustering centroid of the user clustering set; and taking the clustering centroid of the user clustering set as a center coverage position of a third-level beam to complete beam hopping scheduling. Through the above mode, multi-beam multi-user scheduling is realized, the user access waiting time is reduced, the resource utilization efficiency is ensured, the interference is reduced, and the throughput rate is improved.

Description

Technical Field

[0001] The present application relates to the field of optical communication technology, and in particular to a low-orbit satellite beam scheduling and user grouping method, device, equipment and storage medium. Background Art

[0002] In the scenario of low-orbit satellite payloads for wide-area coverage, ultra-large-scale multi-beam antennas are usually used for beam forming and beam hopping. This can not only reduce interference between users and cells and enhance edge coverage, but also reduce communication load power loss and increase radiation power to ensure sufficient access power reserve and service power reserve. Due to the large coverage area, there may be a large number of users who need to access the cell at the same time. In order to meet the rapid access needs of a large number of users and the high-speed rate requirements of a small number of users, the beams need to be classified into signaling beams and service beams. Signaling beams are mainly used for communication processes such as broadcast transmission, random access, and mobile management. Service beams are mainly used for the transmission of service data.

[0003] Since users must wait until the beam coverage is available in their wave position before they can interact with the satellite for signaling, beam scheduling and user grouping must be performed. The traditional method currently used is to use a single signaling beam (wide beam) to poll the satellite coverage area to complete UE access, and then use the service beam (narrow beam) to cover the service wave position for subsequent service processes. However, in this scenario, the efficiency of beam scheduling and user grouping using the traditional method is low.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of this application is to provide a low-orbit satellite beam scheduling and user grouping method, device, equipment and storage medium, aiming to solve the technical problem of low efficiency of beam scheduling and user grouping using traditional methods in the scenario of wide-area coverage of low-orbit satellite payloads in the prior art.

[0006] To achieve the above objectives, the present application provides a low-orbit satellite beam scheduling and user grouping method, the method comprising:

[0007] The beam resources of the low-orbit satellite are processed in a hierarchical manner to obtain a first-level beam, a second-level beam and a third-level beam;

[0008] Scanning the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment;

[0009] Randomly access the target signaling beam position based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam position;

[0010] Clustering the positions of the user equipment based on the third-level beam, and determining a user cluster set and a cluster centroid of the user cluster set;

[0011] The cluster centroid of the user cluster set is used as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0012] In one embodiment, the step of randomly accessing the target signaling beam position based on the second-level beam and determining a position of a user equipment corresponding to the target signaling beam position includes:

[0013] Sorting the target signaling wave position based on the random access opportunity and the number of device accesses of the target signaling wave position, and determining a wave position sorting result;

[0014] Based on the wave position sorting result, determine the lighting order and lighting duration of the target signaling wave position;

[0015] Based on the second-level beam, lighting up the corresponding target signaling beam position according to the lighting order and the lighting duration;

[0016] Based on the second-level beam, random access is performed on the lit target signaling beam position so that the corresponding user equipment enters a preset connection state and the position of the user equipment is obtained.

[0017] In one embodiment, the step of clustering the positions of the user equipment based on the third-level beam and determining a user cluster set and a cluster centroid of the user cluster set includes:

[0018] Based on the third-level beam, selecting a corresponding initial cluster centroid according to the number of clusters at the location of the user equipment;

[0019] Determine the nearest cluster centroid of the user equipment based on the distance between the position of the user equipment and the initial cluster centroid, and divide the position of the user equipment into the user cluster set corresponding to the nearest cluster centroid;

[0020] Updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set;

[0021] Invalid positions in the user cluster set are deleted, and the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

[0022] In one embodiment, the step of selecting the corresponding initial cluster centroid according to the number of clusters at the location of the user equipment includes:

[0023] Randomly selecting a first initial cluster centroid at the location of the user equipment;

[0024] Based on the distance between the position of the user equipment and the selected initial cluster centroid, determine the farthest position among the positions of the user equipment, and use the farthest position as the next initial cluster centroid;

[0025] Get the selected number of initial cluster centroids;

[0026] When the selected number is greater than or equal to the number of cluster groups, the steps of determining the nearest cluster centroid of the user device based on the distance between the location of the user device and the initial cluster centroid and dividing the location of the user device into the user cluster set corresponding to the nearest cluster centroid are performed.

[0027] In one embodiment, the step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set includes:

[0028] Obtaining the correspondence between the initial cluster centroid, the location of the user device and the cluster centroid;

[0029] Based on the position of the user equipment in the user cluster set, the initial cluster centroid of the user cluster set and the corresponding relationship, the cluster centroid of the user cluster set is determined.

[0030] In one embodiment, after the step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set, the step further includes:

[0031] Determining a centroid update difference of the user cluster set based on the cluster centroid of the user cluster set and the initial cluster centroid;

[0032] Determining the centroid distance between the user cluster sets based on the cluster centroids of the user cluster sets;

[0033] When the centroid update difference of the user cluster set is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, it is determined that the cluster centroid test of the user cluster set passes, and the step of deleting invalid positions in the user cluster set is executed.

[0034] In one embodiment, the step of scanning the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment includes:

[0035] Scanning the existing signaling beam position based on the first-level beam, determining the target signaling beam position direction for receiving the random access information sent by the user equipment;

[0036] Based on the target signaling beam position direction, a target signaling beam position of the user equipment is determined.

[0037] In addition, to achieve the above purpose, the present application also proposes a low-orbit satellite beam scheduling and user grouping device, which includes:

[0038] A beam scheduling module is used to hierarchically process the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam;

[0039] The beam scheduling module is further used to scan the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment;

[0040] The beam scheduling module is further used to randomly access the target signaling beam position based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam position;

[0041] A user grouping module, configured to cluster the positions of the user equipment based on the third-level beam, and determine a user cluster set and a cluster centroid of the user cluster set;

[0042] The beam scheduling module is further used to use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a low-orbit satellite beam scheduling and user grouping device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the low-orbit satellite beam scheduling and user grouping method as described above.

[0044] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the low-orbit satellite beam scheduling and user grouping method as described above are implemented.

[0045] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the low-orbit satellite beam scheduling and user grouping method as described above.

[0046] The present application provides a low-orbit satellite beam scheduling and user grouping method, which performs hierarchical processing on the beam resources of the low-orbit satellite to obtain a first-level beam, a second-level beam and a third-level beam; based on the first-level beam, the existing signaling wave position is scanned to determine the target signaling wave position of the user equipment; based on the second-level beam, the target signaling wave position is randomly accessed to determine the position of the user equipment corresponding to the target signaling wave position; based on the third-level beam, the position of the user equipment is clustered to determine the user cluster set and the cluster centroid of the user cluster set; the cluster centroid of the user cluster set is used as the central coverage position of the third-level beam to complete beam hopping scheduling. Satellite beam resources are processed in a hierarchical manner, and different hierarchical beams are used for the broadcast process, access process, and business process respectively. The satellite side groups users based on a clustering algorithm, determines the center point position of the business beam, and finally completes beam hopping scheduling. This can achieve multi-beam multi-user scheduling, reduce user access waiting time, ensure resource utilization efficiency, reduce interference, and improve throughput, solving the technical problem of low efficiency of beam scheduling and user grouping in the scenario of wide-area coverage by low-orbit satellite payloads. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 This is a flow chart of Embodiment 1 of the low-orbit satellite beam scheduling and user grouping method of the present application;

[0050] Figure 2 A schematic diagram of a low-orbit satellite communication wireless channel transmission model for a low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0051] Figure 3 A schematic diagram of a high-altitude base station downlink beamforming and user grouping system model for a low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0052] Figure 4 A schematic diagram of all signaling beam positions scanned by a signaling beam of a low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0053] Figure 5A schematic diagram of a signaling beam pointing to a specific signaling beam position in a low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0054] Figure 6 This is a flow chart of Embodiment 2 of the low-orbit satellite beam scheduling and user grouping method of the present application;

[0055] Figure 7 A schematic diagram of a brief process of a low-orbit satellite beam scheduling and user grouping method provided in Embodiment 2 of the present application;

[0056] Figure 8 This is a schematic diagram of the module structure of a low-orbit satellite beam scheduling and user grouping device according to an embodiment of the present application;

[0057] Fig. 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the low-orbit satellite beam scheduling and user grouping method in the embodiment of the present application.

[0058] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0060] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0061] The main solution of the embodiment of the present application is: hierarchically process the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam; scan the existing signaling beam based on the first-level beam to determine the target signaling beam of the user equipment; randomly access the target signaling beam based on the second-level beam to determine the position of the user equipment corresponding to the target signaling beam; cluster the positions of the user equipment based on the third-level beam to determine the user cluster set and the cluster centroid of the user cluster set; use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0062] With the growing demand for high data rates and seamless global coverage in wireless communication systems, low-orbit satellite communications have been seen as an effective supplement to ground-based communication infrastructure. Low-orbit satellite communications are a new direction for wireless infrastructure construction. By deploying multi-beam phased array antennas, energy efficiency, spectrum efficiency, and system throughput can be significantly improved.

[0063] In the scenario of low-orbit satellite payloads for wide-area coverage, ultra-large-scale multi-beam antennas are usually used for beam forming and beam hopping. This can not only reduce interference between users and cells and enhance edge coverage, but also reduce communication load power loss and increase radiation power to ensure sufficient access power reserve and service power reserve. Due to the large coverage area, there may be a large number of users who need to access the cell at the same time. In order to meet the rapid access needs of a large number of users and the high-speed rate requirements of a small number of users, the beams need to be classified into signaling beams and service beams. Signaling beams are mainly used for communication processes such as broadcast transmission, random access, and mobile management. Service beams are mainly used for the transmission of service data.

[0064] Since users must wait until the beam coverage is available in their wave position before they can interact with the satellite for signaling, beam scheduling and user grouping must be performed. The traditional method currently used is to use a single signaling beam (wide beam) to poll the satellite coverage area to complete UE access, and then use the service beam (narrow beam) to cover the service wave position for subsequent service processes. However, in the scenario of low-orbit satellite payloads for wide-area coverage, the efficiency of beam scheduling and user grouping using traditional methods is low.

[0065] The present application provides a solution to hierarchically process satellite beam resources. The broadcast process, access process and business process respectively use beams of different hierarchies. The satellite side groups users based on a clustering algorithm, determines the center point position of the business beam, and finally completes beam hopping scheduling. This can achieve multi-beam multi-user scheduling, reduce user access waiting time, ensure resource utilization efficiency, reduce interference, and improve throughput. It solves the technical problem of low efficiency of beam scheduling and user grouping in the scenario of wide-area coverage of low-orbit satellite payloads.

[0066] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a low-orbit satellite beam scheduling and user grouping device, etc., and this embodiment does not specifically limit this. The following takes the low-orbit satellite beam scheduling and user grouping device as an example to illustrate this embodiment and the following embodiments.

[0067] The present application embodiment provides a low-orbit satellite beam scheduling and user grouping method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the low-orbit satellite beam scheduling and user grouping method of the present application.

[0068] In this embodiment, the low-orbit satellite beam scheduling and user grouping method includes steps S10 to S50:

[0069] Step S10, performing hierarchical processing on the beam resources of the low-orbit satellite to obtain a first-level beam, a second-level beam, and a third-level beam;

[0070] It should be noted that the wireless channel transmission model of low-orbit satellite communication can be referred to Figure 2 ,Since the communication payload is located at 300 to 1500 km, which is much higher than the ground base station, the transmission between the low-orbit satellite communication payload and the ground receiver has a direct path component and a non-line-of-sight reflection multipath component, so its channel model can be regarded as a Ricean channel.

[0071] In addition, it should be noted that the reference Figure 3 , a low-orbit satellite carries a communication payload and uses a uniform phased array antenna array to construct a beam-hopping system, where each row has N antennas and each column has M antennas, which can simultaneously generate β (β ≥ 2) signaling beams and γ service beams. Assume that the set of wave positions that the signaling beam needs to cover is The wavelengths that the service beam needs to cover change dynamically with the distribution of users and service requirements. The 3dB beam width of the signaling beam is much larger than the 3dB beam width of the service beam. A single satellite serves U single-antenna users. Signaling beams are mainly used for communication processes such as broadcast transmission, random access, and mobility management; service beams are mainly used for the transmission of service data. The sizes of signaling beams and service beams are usually different, depending on factors such as capacity, latency, etc. For example, a signaling beam is usually designed as a wide beam, while a service beam is designed as a specific narrow beam that transmits relevant data to a specific user.

[0072] In this embodiment, the beam resources of the low-orbit satellite are processed in a hierarchical manner and divided into first-level beams, second-level beams and third-level beams. The first-level beam and the second-level beam are signaling beams. Among the β signaling beams, 1 signaling beam is used for SSB (Synchronization Signal and PBCH block) scanning and MSG1 reception, which is called the first-level beam, and β-1 signaling beams are used for MSG2~MSG4 transceiver processing and CSI-RS (Channel State Information-Reference Signal, reference signal for measuring channel state information) transceiver, which is called the second-level beam. γ service beams, called third-level beams, are used for service processes. MSG1~MSG4 are four messages exchanged with UE (User Equipment) during the random access process.

[0073] Step S20, scanning the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment;

[0074] It should be noted that the reference Figure 4 Assuming that there are 16 (K=16) signaling wave positions within the coverage of the low-orbit satellite and there is only one signaling beam, then the signaling beam will periodically scan all signaling wave positions in the order of C1, C2, ..., C15, C16, C1, C2, ...

[0075] In a feasible implementation, step S20 may include steps S201 to S202:

[0076] Step S201, scanning the existing signaling beam position based on the first-level beam, and determining the target signaling beam position direction for receiving the random access information sent by the user equipment;

[0077] It should be noted that the user equipment in this embodiment refers to the user equipment that needs access, that is, the user equipment that needs service coverage. The existing signaling beam refers to all current signaling beams, and the target signaling beam direction is the direction of the signaling beam where the user equipment is located.

[0078] It can be understood that the first-level beam scans the synchronization signal and PBCH block (SSB), and the SSB burst set is periodic, and each SSB is consistent with a signaling wave direction. The UE obtains the direction of the service satellite at the current moment based on the ephemeris information, so there is no need to traverse all possible receiving beam directions like the ground 5G network. The receiving beam can be directly aimed at the satellite to receive the SSB signal. The UE obtains information about the RACH (Random Access Channel) configuration from the received system information, and sends MSG1 (the transmission channel is PRACH (Physical Random Access Channel)) in the direction of the corresponding signaling beam at the specified random access opportunity (RACH Occasion, RO). The random access information sent by the user equipment is MSG1.

[0079] It should be understood that whether there is MSG1 sent by UE in the signaling wave direction corresponding to each SSB is detected. If so, there is a user equipment in the signaling wave direction, that is, the signaling wave direction is the target signaling wave direction.

[0080] Step S202: Determine a target signaling beam position of the user equipment based on the target signaling beam position direction.

[0081] It should be noted that the target signaling wave position is the signaling wave position where the user equipment is located, and can also be considered as the signaling wave position with UE access requirements, which needs to be determined in the existing signaling wave positions.

[0082] It can be understood that, in specific implementation, according to the correspondence between each SSB and the signaling wave direction, the signaling wave number of the UE to be accessed can be determined, thereby determining the target signaling wave. After the SSB cycle is sent and all signaling wave directions MSG1 are received, the target signaling wave of the user equipment is obtained. At this time, the set of target signaling wave is Where J≤K.

[0083] In this implementation, the first-level beam mainly performs SSB beam scanning, polls the signaling beam position in the satellite coverage area, and is simultaneously responsible for receiving MSG1 (PRACH) in the current area, and determines the signaling beam position of the current UE through the PRACH time-frequency position.

[0084] Step S30, randomly accessing the target signaling beam position based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam position;

[0085] It should be noted that the reference Figure 5 , assuming that after the first-level beam processing, there are 6 (J=6, J={C1, C3, C4, C8, C10, C15}) signaling beams with UE access requirements, that is, there are 6 target signaling beams, and the second-level beam has 4 (β-1) available signaling beams, then the second-level beam will only light up the signaling beams with service access requirements.

[0086] In a feasible implementation, step S30 may include steps S301 to S304:

[0087] Step S301, sorting the target signaling wave position based on the random access opportunity and the number of device access of the target signaling wave position, and determining the wave position sorting result;

[0088] It should be noted that the number of device access refers to the number of UE access. In this embodiment, signaling wave positions with UE access requirements are sorted according to RO opportunities and the number of UE access. The final sorting result is the wave position sorting result.

[0089] Step S302, based on the wave position sorting result, determining the lighting order and lighting duration of the target signaling wave position;

[0090] It can be understood that, according to the obtained wave position sorting result, the lighting order and lighting duration of each target signaling wave position are determined respectively.

[0091] Step S303, based on the second-level beam, lighting up the corresponding target signaling beam position according to the lighting order and the lighting duration;

[0092] Step S304: Randomly access the lit target signaling beam position based on the second-level beam to enable the corresponding user equipment to enter a preset connection state and obtain the position of the user equipment.

[0093] It should be noted that the preset connection state refers to the RRC connected state. The RRC connected state is a connection state between the UE and the network in a wireless communication network, indicating that the UE has established an RRC context and all necessary communication parameters have been known to both communicating parties.

[0094] It can be understood that after completing the random access process, the UE enters the RRC connected state, at which time the specific location of the UE can be determined. In this embodiment, the Cartesian coordinate system is used as a representation of the specific location of the UE, and the location coordinates of the kth user equipment can be expressed as U k {x k ,y k ,z k}.

[0095] In this implementation, the second-level beam adopts a beam hopping design, which is mainly responsible for receiving and sending MSG2~MSG4 for the target signaling beam determined by the first-level beam, and completing the CSI-RS measurement, and finally determining the final position of the UE with access requirements. At this time, the UE enters the RRC connected state.

[0096] Step S40, clustering the positions of the user equipment based on the third-level beam, and determining a user cluster set and a cluster centroid of the user cluster set;

[0097] It should be noted that when determining the service beam direction, the user equipment must be grouped to obtain the maximum system throughput.

[0098] In addition, it should be noted that for the low-orbit satellite communication channel model, the channel vector h of the u-th user is i It can be expressed as:

[0099]

[0100] In the formula, h u is a MN×1 column vector, K u is the Ricean factor of user u, and denote the LOS component and the Non-Line-of-Sight (NLOS) component respectively, and h u , and is a MN×1 column vector, is a Gaussian random variable with zero mean and unit variance. For satellite payloads using the UPA (Uniform Rectangular Array) geometry, the LOS component of the u-th user is It can be expressed as:

[0101]

[0102] as well as

[0103]

[0104]

[0105] in, represents the Kronecker product, and are the user's horizontal and vertical transmission angles, d v and d v are the distances between adjacent antennas in the column and row directions, respectively, and λ is the carrier wavelength. Assuming that the satellite payload can obtain valid CSI information, the precoding matrix using ZF beamforming can be expressed as:

[0106] W=H H (HH H ) -1

[0107] Good performance usually relies on the orthogonality of channels. However, in satellite-to-ground scenarios, this orthogonality usually does not exist. Instead, users tend to gather around hot spots, and the channels (especially the line-of-sight (LOS) component) show clustering characteristics. In addition, the correlation between LOS components fluctuates with the difference in the direction of arrival (DOA), which means that even far-away users may have highly correlated channels. Therefore, this embodiment uses user clustering to perform grouping.

[0108] It can be understood that the user cluster set is the set obtained after clustering the user devices, each set can be considered as a user group, and the cluster centroid of the user cluster set is the center point of the user location. In specific implementation, the locations of the user devices are usually clustered to obtain the corresponding user cluster set.

[0109] Step S50: taking the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0110] It should be noted that the central coverage position refers to the center point position of the service beam (third-level beam). In this embodiment, the cluster centroid of the user cluster set is used as the central coverage position of the third-level beam.

[0111] It can be understood that the clustering algorithm is used to perform beam hopping grouping on the scheduled users, and the center points of the grouped users are obtained to complete the beam hopping scheduling.

[0112] In the specific implementation, the beam resource area is classified into first-level beams, second-level beams and third-level beams, which are responsible for the broadcast process, user access process and business process respectively, and complete the group-based beam hopping scheduling, which can realize fast user grouping and multi-user scheduling within the beam.

[0113] This embodiment provides a low-orbit satellite beam scheduling and user grouping method, which hierarchically processes the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam; based on the first-level beam, the existing signaling wave position is scanned to determine the target signaling wave position of the user equipment; based on the second-level beam, the target signaling wave position is randomly accessed to determine the position of the user equipment corresponding to the target signaling wave position; based on the third-level beam, the position of the user equipment is clustered to determine the user cluster set and the cluster centroid of the user cluster set; the cluster centroid of the user cluster set is used as the central coverage position of the third-level beam to complete the beam hopping scheduling. The satellite beam resources are hierarchically processed, and the broadcast process, access process and service process respectively use beams of different hierarchies. The satellite side performs user grouping based on the clustering algorithm to determine the center point position of the service beam, and finally completes the beam hopping scheduling, which can realize multi-beam multi-user scheduling, reduce user access waiting time, ensure resource utilization efficiency, reduce interference, and improve throughput.

[0114] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can refer to the above introduction, and will not be repeated later. Figure 6 , step S40 may include steps S401 to S404:

[0115] Step S401, based on the third-level beam, selecting a corresponding initial cluster centroid according to the number of clusters at the location of the user equipment;

[0116] It should be noted that this embodiment clusters user devices according to the correlation of channels, and the correlation of channels is directly related to the distance between users. Therefore, the spatial distance between users is used as the clustering metric, so that users in the same cluster have higher correlation, while users in different clusters have lower correlation. The distance between the kth user device and the gth cluster set is defined as:

[0117]

[0118] In the formula, x k ,y k ,z krepresents the location coordinates of user equipment k, Represents the coordinates of the cluster centroid of the user cluster set g.

[0119] It is understandable that according to the metric d kg , the user equipment can be divided into G (G≤L) cluster sets, and the centroid position of each cluster set is determined. Since the service beam adopts a beam hopping scheme and is full frequency multiplexing, in order to reduce inter-beam interference, the beams in the same time slot need to be isolated in space. It can be assumed that the minimum distance requirement between two beams is D (the shortest distance between beams).

[0120] In a feasible implementation, step S401 may include: randomly selecting the first initial cluster centroid from the position of the user device; determining the farthest position from the position of the user device based on the distance between the position of the user device and the selected initial cluster centroid, and using the farthest position as the next initial cluster centroid; obtaining the selected number of initial cluster centroids; when the selected number is greater than or equal to the number of cluster groups, executing the step of determining the nearest cluster centroid of the user device based on the distance between the position of the user device and the initial cluster centroid, and dividing the position of the user device into the user cluster set corresponding to the nearest cluster centroid.

[0121] It should be noted that the initial cluster centroid is the centroid of the initially selected user cluster set, and further adjustments are required to obtain the final centroid. The number of cluster families is the number of user cluster sets that can be formed in advance.

[0122] It can be understood that according to the set of UEs that need to be accessed determined by the second-level beam, assuming that the set of UEs to be grouped is Ψ={1,2,…,U}, the number of clusters G is set, the preset update threshold δ is initialized, and the cluster centroid is initialized. A UE is randomly selected and its location is used as the initial cluster centroid of the first cluster set, assuming that For all UEs, the square of their distance to the nearest centroid is calculated and all results are accumulated as follows:

[0123]

[0124] In the formula, x k ,y k ,z k represents the location coordinates of user equipment k, represents the coordinates of the first selected initial cluster centroid, and U represents the number of UEs.

[0125] It should be understood that the UE position farthest from the selected initial cluster centroid is selected as the next initial cluster centroid, and then the square cumulative value of the distance between the UE and the nearest centroid is recalculated, and the next initial cluster centroid is selected until G centroids are selected and the distance between any two initial cluster centroids is greater than or equal to D (the shortest distance between beams). Thus, the set of initial cluster centroids is obtained.

[0126] Step S402: determining the nearest cluster centroid of the user equipment based on the distance between the position of the user equipment and the initial cluster centroid, and dividing the position of the user equipment into a user cluster set corresponding to the nearest cluster centroid;

[0127] It should be noted that the nearest cluster centroid is the cluster centroid that is closest to the user device. kg , find the shortest distance g between each user device and the initial cluster centroid k = arg min g d kg , the corresponding cluster centroid is the nearest cluster centroid, and each user device is assigned to the cluster set of the nearest cluster centroid. Therefore, the g-th user cluster set is

[0128] Step S403, updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set;

[0129] It is understandable that for each user cluster set A new cluster centroid needs to be calculated so that the user devices in the same user cluster set all reach a similar "distance" to the cluster centroid.

[0130] In a feasible implementation, step S403 may include: obtaining the initial cluster centroid, the correspondence between the location of the user device and the cluster centroid; and determining the cluster centroid of the user cluster set based on the location of the user device in the user cluster set, the initial cluster centroid of the user cluster set and the correspondence.

[0131] It should be noted that the cluster centroid is the final centroid, which is obtained by updating the initial cluster centroid. The corresponding relationship between the initial cluster centroid, the location of the user device and the cluster centroid is the calculation relationship for calculating the cluster centroid, that is, the calculation relationship for updating the initial cluster centroid, as shown below:

[0132]

[0133] In the formula, represents the user clustering set, represents the cluster centroid, Represents the coordinates of the cluster centroid of the user cluster set g.

[0134] It can be understood that the relevant data is substituted into the above calculation formula to determine the cluster centroid of each user cluster set.

[0135] Furthermore, the calculated cluster centroids need to be verified. After step S403, the method also includes: determining the centroid update difference of the user cluster set based on the cluster centroid of the user cluster set and the initial cluster centroid; determining the centroid distance between the user cluster sets based on the cluster centroid of the user cluster set; when the centroid update difference of the user cluster set is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, determining that the cluster centroid of the user cluster set has passed the test, and executing the step of deleting invalid positions in the user cluster set.

[0136] It should be noted that the centroid update difference is the difference between the cluster centroid of each user cluster set and the initial cluster centroid. The calculation relationship is as follows:

[0137]

[0138] Where μ represents the updated difference of the centroid, represents the cluster centroid of the user cluster set g, represents the initial cluster centroid of the user cluster set g.

[0139] In addition, it should be noted that the centroid distance is the clustering between the cluster centroids of two user cluster sets, and the calculation relationship is as follows:

[0140]

[0141] In the formula, represents the centroid distance, represents the cluster centroid of the user cluster set g1, Represents the cluster centroid of the user cluster set g2.

[0142] It can be understood that the final cluster centroid needs to satisfy: the centroid update difference is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, that is, ν≥D, and μ≤δ. If it is satisfied, the verification passes and step S404 is continued. If it is not satisfied, the verification fails and returns to step S402 to redetermine the cluster centroid.

[0143] Step S404: deleting invalid positions in the user cluster set, where the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

[0144] It should be noted that the invalid position refers to the data that needs to be deleted from the user cluster set. This embodiment calculates the distance between each user device in the user cluster set and the cluster centroid. If the distance is greater than D / 2 (half of the shortest distance between beams), it is deleted. If the distance is less than or equal to D / 2, it is retained, thereby determining the final user cluster set and the cluster centroid of each user cluster set.

[0145] This embodiment provides a low-orbit satellite beam scheduling and user grouping method. Based on the third-level beam, the corresponding initial cluster centroid is selected in the position of the user equipment according to the number of cluster families; based on the distance between the position of the user equipment and the initial cluster centroid, the nearest cluster centroid of the user equipment is determined, and the position of the user equipment is divided into the user cluster set corresponding to the nearest cluster centroid; the initial cluster centroid of the user cluster set is updated to obtain the cluster centroid of the user cluster set; the invalid position in the user cluster set is deleted, and the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams. The satellite beam resources are graded, and the broadcast process, access process and business process respectively use beams of different grades. The satellite side performs user grouping based on the clustering algorithm, determines the center point position of the business beam, and finally completes the beam hopping scheduling, which can realize multi-beam multi-user scheduling, reduce user access waiting time, ensure resource utilization efficiency, reduce interference, and improve throughput.

[0146] For example, in order to help understand the implementation process of the low-orbit satellite beam scheduling and user grouping method obtained by combining this embodiment with the above embodiments, please refer to Figure 7 , Figure 7 A brief flowchart of a low-orbit satellite beam scheduling and user grouping method is provided, specifically:

[0147] The first-level beam performs SSB beam scanning, polls the signaling beam position in the satellite coverage area, and is also responsible for receiving MSG1 in the current area, and determines the signaling beam position of the current UE through the PRACH time-frequency position; the second-level beam adopts a beam hopping design, which is responsible for receiving and sending MSG2~MSG4 for the signaling beam set determined by the first-level beam, and completes the CSI-RS measurement, and finally determines the final position of the UE with access requirements. At this time, the UE enters the RRC connected state; for all UEs in the RRC connected state, fast user grouping is performed in the third-level beam, and the service beam center coverage position is finally determined to achieve multi-beam multi-user scheduling, reduce system interference, and improve throughput.

[0148] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the low-orbit satellite beam scheduling and user grouping method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0149] This application also provides a low-orbit satellite beam scheduling and user grouping device, please refer to Figure 8 , the low-orbit satellite beam scheduling and user grouping device includes:

[0150] The beam scheduling module 10 is used to hierarchically process the beam resources of the low-orbit satellite to obtain a first-level beam, a second-level beam and a third-level beam;

[0151] The beam scheduling module 10 is further configured to scan the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment;

[0152] The beam scheduling module 10 is further configured to perform random access to the target signaling beam position based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam position;

[0153] A user grouping module 20, configured to cluster the positions of the user equipment based on the third-level beam, and determine a user cluster set and a cluster centroid of the user cluster set;

[0154] The beam scheduling module 10 is further configured to use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0155] In a feasible implementation manner, the beam scheduling module 10 is further used to sort the target signaling beam positions based on the random access timing and the number of device accesses of the target signaling beam positions, and determine the beam position sorting result;

[0156] Based on the wave position sorting result, determine the lighting order and lighting duration of the target signaling wave position;

[0157] Based on the second-level beam, lighting up the corresponding target signaling beam position according to the lighting order and the lighting duration;

[0158] Based on the second-level beam, random access is performed on the lit target signaling beam position so that the corresponding user equipment enters a preset connection state and the position of the user equipment is obtained.

[0159] In a feasible implementation manner, the user grouping module 20 is further configured to select a corresponding initial cluster centroid according to the number of clusters at the location of the user equipment based on the third-level beam;

[0160] Determine the nearest cluster centroid of the user equipment based on the distance between the position of the user equipment and the initial cluster centroid, and divide the position of the user equipment into the user cluster set corresponding to the nearest cluster centroid;

[0161] Updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set;

[0162] Invalid positions in the user cluster set are deleted, and the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

[0163] In a feasible implementation manner, the user grouping module 20 is further configured to randomly select a first initial cluster centroid from the location of the user equipment;

[0164] Based on the distance between the position of the user equipment and the selected initial cluster centroid, determine the farthest position among the positions of the user equipment, and use the farthest position as the next initial cluster centroid;

[0165] Get the selected number of initial cluster centroids;

[0166] When the selected number is greater than or equal to the number of cluster groups, the steps of determining the nearest cluster centroid of the user device based on the distance between the location of the user device and the initial cluster centroid and dividing the location of the user device into the user cluster set corresponding to the nearest cluster centroid are performed.

[0167] In a feasible implementation manner, the user grouping module 20 is further used to obtain the correspondence between the initial cluster centroid, the location of the user equipment and the cluster centroid;

[0168] Based on the position of the user equipment in the user cluster set, the initial cluster centroid of the user cluster set and the corresponding relationship, the cluster centroid of the user cluster set is determined.

[0169] In a feasible implementation manner, the user grouping module 20 is further used to determine the centroid update difference of the user cluster set based on the cluster centroid of the user cluster set and the initial cluster centroid;

[0170] Determining the centroid distance between the user cluster sets based on the cluster centroids of the user cluster sets;

[0171] When the centroid update difference of the user cluster set is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, it is determined that the cluster centroid test of the user cluster set passes, and the step of deleting invalid positions in the user cluster set is executed.

[0172] In a feasible implementation manner, the beam scheduling module 10 is further used to scan the existing signaling beam position based on the first-level beam to determine the target signaling beam position direction for receiving the random access information sent by the user equipment;

[0173] Based on the target signaling beam position direction, a target signaling beam position of the user equipment is determined.

[0174] The low-orbit satellite beam scheduling and user grouping device provided by the present application adopts the low-orbit satellite beam scheduling and user grouping method in the above embodiment, which can solve the technical problem of low efficiency of beam scheduling and user grouping in the scenario where the low-orbit satellite payload performs wide-area coverage. Compared with the prior art, the beneficial effects of the low-orbit satellite beam scheduling and user grouping device provided by the present application are the same as the beneficial effects of the low-orbit satellite beam scheduling and user grouping method provided by the above embodiment, and other technical features in the low-orbit satellite beam scheduling and user grouping device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0175] The present application provides a low-orbit satellite beam scheduling and user grouping device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the low-orbit satellite beam scheduling and user grouping method in the above-mentioned embodiment one.

[0176] Reference below Fig. 9 , which shows a schematic diagram of the structure of a low-orbit satellite beam scheduling and user grouping device suitable for implementing the embodiment of the present application. The low-orbit satellite beam scheduling and user grouping device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The low-orbit satellite beam scheduling and user grouping device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0177] like Fig. 9As shown, the low-orbit satellite beam scheduling and user grouping device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the low-orbit satellite beam scheduling and user grouping device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the low-orbit satellite beam scheduling and user grouping device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a low-orbit satellite beam scheduling and user grouping device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have instead.

[0178] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0179] The low-orbit satellite beam scheduling and user grouping device provided by the present application adopts the low-orbit satellite beam scheduling and user grouping method in the above embodiment, which can solve the technical problem of low efficiency of beam scheduling and user grouping in the scenario where the low-orbit satellite payload performs wide-area coverage. Compared with the prior art, the beneficial effects of the low-orbit satellite beam scheduling and user grouping device provided by the present application are the same as the beneficial effects of the low-orbit satellite beam scheduling and user grouping method provided by the above embodiment, and other technical features in the low-orbit satellite beam scheduling and user grouping device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0180] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0181] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0182] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the low-orbit satellite beam scheduling and user grouping method in the above-mentioned embodiment.

[0183] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0184] The above-mentioned computer-readable storage medium may be included in the low-orbit satellite beam scheduling and user grouping device; or may exist independently without being assembled into the low-orbit satellite beam scheduling and user grouping device.

[0185] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the low-orbit satellite beam scheduling and user grouping device, the low-orbit satellite beam scheduling and user grouping device: performs hierarchical processing on the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam; scans the existing signaling wave position based on the first-level beam to determine the target signaling wave position of the user equipment; performs random access to the target signaling wave position based on the second-level beam to determine the position of the user equipment corresponding to the target signaling wave position; clusters the position of the user equipment based on the third-level beam to determine the user clustering set and the clustering centroid of the user clustering set; uses the clustering centroid of the user clustering set as the central coverage position of the third-level beam to complete the beam hopping scheduling.

[0186] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0187] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0188] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0189] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned low-orbit satellite beam scheduling and user grouping method, and can solve the technical problem of low efficiency of beam scheduling and user grouping in the scenario of wide-area coverage of low-orbit satellite payloads. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the low-orbit satellite beam scheduling and user grouping method provided by the above-mentioned embodiment, and will not be repeated here.

[0190] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned low-orbit satellite beam scheduling and user grouping method when executed by a processor.

[0191] The computer program product provided by the present application can solve the technical problem of low efficiency of beam scheduling and user grouping in the scenario of wide-area coverage by low-orbit satellite payloads. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the low-orbit satellite beam scheduling and user grouping method provided by the above embodiment, and will not be repeated here.

[0192] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A low-orbit satellite beam scheduling and user grouping method, characterized in that: The method comprises: The beam resources of the low-orbit satellite are processed in a hierarchical manner to obtain a first-level beam, a second-level beam and a third-level beam; Scanning the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment; Randomly access the target signaling beam position based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam position; Clustering the positions of the user equipment based on the third-level beam, and determining a user cluster set and a cluster centroid of the user cluster set; The cluster centroid of the user cluster set is used as the central coverage position of the third-level beam to complete beam hopping scheduling.

2. The method according to claim 1, characterized in that The step of randomly accessing the target signaling beam position based on the second-level beam and determining the position of the user equipment corresponding to the target signaling beam position comprises: Sorting the target signaling wave position based on the random access opportunity and the number of device accesses of the target signaling wave position, and determining a wave position sorting result; Based on the wave position sorting result, determine the lighting order and lighting duration of the target signaling wave position; Based on the second-level beam, lighting up the corresponding target signaling beam position according to the lighting order and the lighting duration; Based on the second-level beam, random access is performed on the lit target signaling beam position so that the corresponding user equipment enters a preset connection state and the position of the user equipment is obtained.

3. The method according to claim 1, characterized in that The step of clustering the positions of the user equipment based on the third-level beam and determining a user cluster set and a cluster centroid of the user cluster set comprises: Based on the third-level beam, selecting a corresponding initial cluster centroid according to the number of clusters at the location of the user equipment; Determine the nearest cluster centroid of the user equipment based on the distance between the position of the user equipment and the initial cluster centroid, and divide the position of the user equipment into the user cluster set corresponding to the nearest cluster centroid; Updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set; Invalid positions in the user cluster set are deleted, and the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

4. The method according to claim 3, characterized in that The step of selecting the corresponding initial cluster centroid according to the number of clusters at the position of the user equipment comprises: Randomly selecting a first initial cluster centroid at the location of the user equipment; Based on the distance between the position of the user equipment and the selected initial cluster centroid, determine the farthest position among the positions of the user equipment, and use the farthest position as the next initial cluster centroid; Get the selected number of initial cluster centroids; When the selected number is greater than or equal to the number of cluster groups, the steps of determining the nearest cluster centroid of the user device based on the distance between the location of the user device and the initial cluster centroid and dividing the location of the user device into the user cluster set corresponding to the nearest cluster centroid are performed.

5. The method according to claim 3, characterized in that The step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set includes: Obtaining the correspondence between the initial cluster centroid, the location of the user device and the cluster centroid; Based on the position of the user equipment in the user cluster set, the initial cluster centroid of the user cluster set and the corresponding relationship, the cluster centroid of the user cluster set is determined.

6. The method according to claim 3, characterized in that After the step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set, the method further includes: Determining a centroid update difference of the user cluster set based on the cluster centroid of the user cluster set and the initial cluster centroid; Determining the centroid distance between the user cluster sets based on the cluster centroids of the user cluster sets; When the centroid update difference of the user cluster set is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, it is determined that the cluster centroid test of the user cluster set passes, and the step of deleting invalid positions in the user cluster set is executed.

7. The method according to any one of claims 1 to 6, characterized in that The step of scanning the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment includes: Scanning the existing signaling beam position based on the first-level beam, determining the target signaling beam position direction for receiving the random access information sent by the user equipment; Based on the target signaling beam position direction, a target signaling beam position of the user equipment is determined.

8. A low-orbit satellite beam scheduling and user grouping device, characterized in that: The device comprises: A beam scheduling module is used to hierarchically process the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam; The beam scheduling module is further used to scan the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment; The beam scheduling module is further used to randomly access the target signaling beam position based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam position; A user grouping module, configured to cluster the positions of the user equipment based on the third-level beam, and determine a user cluster set and a cluster centroid of the user cluster set; The beam scheduling module is further used to use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

9. A low-orbit satellite beam scheduling and user grouping device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the low-orbit satellite beam scheduling and user grouping method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the low-orbit satellite beam scheduling and user grouping method as described in any one of claims 1 to 7 are implemented.

Images