Internet of Things terminal remote control method based on low earth orbit satellite communication

Abstract

The invention discloses an Internet of Things terminal remote control method based on low earth orbit satellite communication, and belongs to the technical field of low earth orbit satellite communication. By establishing a coverage control relationship between the Internet of Things terminal and the low-orbit satellite link, generating a distribution control behavior set and recording connection delay, scattered communication behaviors can be converted into traceable associated data, and matching analysis of the terminal and the link is facilitated; a data matrix is constructed and normalized based on time delay, a feature contour is extracted after the data matrix is converted into a data portrait, and identification of multi-terminal common-frequency behaviors is simplified by utilizing spatial relevance of image features so as to quickly solve the problem of common-frequency interference concealment; and identifying a common-frequency behavior through contour overlapping, and quantifying a link importance score to optimize terminal link selection. According to the method, the problems that traditional low-orbit satellite link allocation is static and common-frequency interference is difficult to control are solved, the link resource utilization rate and the terminal communication reliability are improved, and the method is suitable for remote control of wide-area Internet of Things scenes such as oceans and deserts.

Description

Technical Field

[0001] The present invention relates to the technical field of low-orbit satellite communications, and in particular to a remote control method for an Internet of Things terminal based on low-orbit satellite communications. Background Art

[0002] In remote control of the Internet of Things (IoT) supported by low-orbit satellites, efficient matching of terminals and satellite links is a core requirement. However, existing technologies have significant limitations: First, link allocation lacks dynamic adaptation. Traditional strategies often allocate links based on preset rules without considering the actual communication behavior of terminals (such as connection frequency and latency characteristics), resulting in uneven link load or idle resources. Second, identifying co-frequency interference is difficult. When multiple terminals communicate concurrently, co-frequency conflicts caused by overlapping link selection are difficult to detect in real time, directly affecting data transmission stability. Third, link priority assessment is lacking, preventing terminals from selecting the optimal path based on actual link performance (such as latency stability and co-frequency risk), resulting in delayed control command responses. Existing technologies often rely on simple signal strength judgment and lack a comprehensive mechanism from behavior analysis to optimized decision-making, making it difficult to meet the high-reliability communication requirements of the wide-area IoT. Summary of the Invention

[0003] The purpose of the present invention is to provide a remote control method for an Internet of Things terminal based on low-orbit satellite communication to solve the problems raised in the above background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: The remote control method of the Internet of Things terminal based on low-orbit satellite communication includes the following steps: Step S1: Based on the low-orbit satellite link behavior used by the IoT terminal during the communication process, a coverage control relationship is generated between the IoT terminal and the low-orbit satellite link; when the IoT terminal performs low-orbit satellite link connection allocation, an allocation control behavior set is formed based on the coverage control relationship and according to the low-orbit satellite link index identifier; Step S2: Based on the allocation control behavior set, when allocating low-orbit satellite link connections, a link behavior label is generated to create a dynamic control label set, and the dynamic control label set records the connection delay information of the IoT terminal connecting to the low-orbit satellite link; Step S3: Based on the connection delay, a communication behavior data matrix about the connection delay is constructed with the low-orbit satellite link index identification number as the row number and the low-orbit satellite link connection allocation order number as the column number. All connection delays in the communication behavior data matrix are normalized to obtain a normalized delay value. Step S4: Based on the normalized delay value, the communication behavior data matrix is ​​converted into a traffic behavior data portrait, and the traffic behavior data portrait is subjected to edge extraction to form an image feature contour; Step S5: Based on the image feature contours, the overlapping contour boundaries between IoT terminals are identified to screen out IoT terminal pairs that have co-frequency behavior in low-orbit satellite communications, and the co-frequency control behavior points are marked within the overlapping image area; Step S6: Based on the coordinates of the co-frequency control behavior points, a co-frequency control link identifier set is generated to quantify the importance score of the low-orbit satellite link in the case of low-orbit satellite link connection allocation, so as to provide control selection for each IoT terminal.

[0005] As a further preferred solution of the present invention, the specific implementation process of step S1 includes: Compile index identifiers for the IoT terminal and the low-orbit satellite link accessed by the IoT terminal, and generate a coverage control relationship between the IoT terminal and the low-orbit satellite link. The coverage control relationship is recorded based on the low-orbit satellite link behavior used by the IoT terminal during communication. When the IoT terminal allocates low-orbit satellite link connections, a set of allocation control behaviors is generated based on the coverage control relationship, which is recorded as ,in, represents the allocation control behavior set formed when the i-th low-orbit satellite link connection allocation is performed, represents the dynamic IoT terminal cluster connected to the yth LEO satellite link during the i-th LEO satellite link connection allocation, and , It indicates that the e-th IoT terminal of the y-th LEO satellite link is called when the i-th LEO satellite link connection is allocated. E represents the total number of IoT terminals compiled, and Y represents the total number of LEO satellite links compiled.

[0006] As a further preferred solution of the present invention, the specific implementation process of step S2 includes: Based on the allocation control behavior set, when performing the i-th low-orbit satellite link connection allocation, a link behavior label is added to the dynamic IoT terminal cluster connected to the y-th low-orbit satellite link, which is recorded as ,and 、 , coordinate all link behavior labels to generate a dynamic control label set, denoted as , where I represents the total number of low-orbit satellite link connections; Based on the dynamic control tag set, real-time recording of IoT terminals during the i-th low-orbit satellite link connection allocation The connection delay of the yth low-orbit satellite link is recorded as ,and 、 .

[0007] As a further preferred solution of the present invention, the specific implementation process of step S3 includes: IoT terminals The corresponding generated communication behavior data matrix is ​​recorded as , then the communication behavior data matrix The data recorded in the yth row and the ith column is the connection delay ; Communication behavior data matrix All connection delays in the normalized process are processed to obtain the normalized delay value , where Represents the communication behavior data matrix The minimum value of the continuous delay in Represents the communication behavior data matrix The maximum value of the continuous delay in .

[0008] As a further preferred solution of the present invention, the specific implementation process of step S4 includes: Map the normalized delay value to the grayscale value range [0, 255], the mapping formula is ,in, Indicates that the communication behavior data matrix Transformed into the grayscale value of the pixel in the yth row and ith column of the traffic behavior data portrait, and the communication behavior data matrix The matrix element in the yth row and the ith column corresponds to the pixel point with coordinates (y, i) in the traffic behavior data portrait, generating the IoT terminal Corresponding traffic behavior data portrait ; Use edge detection algorithm to profile traffic behavior data Perform edge extraction to form image feature contours, recorded as , and the image feature contour Continuous pixels are recorded in it.

[0009] As a further preferred solution of the present invention, the specific implementation process of step S5 includes: For any two IoT terminals and ,and , get the image feature contour and image feature contours If the overlapping image area is greater than or equal to the preset image matching threshold, the IoT terminal is determined to be and There is a low-orbit satellite communication common frequency behavior between them, otherwise it is determined that the IoT terminal and There is no common frequency behavior of low-orbit satellite communication; For IoT terminals IoT terminals with co-frequency behavior in low-orbit satellite communications , and e≠q, mark each pixel in the overlapping image area as a common frequency control behavior point; It should be noted that the essence of co-frequency behavior is that multiple IoT terminals reuse the frequency resources of the same low-orbit satellite link during the same period, which can lead to problems such as signal interference and channel congestion. Connection delay is a direct indicator of the degree of interference to communication quality. When multiple terminals use the same link, interference such as signal conflicts and power competition will increase the waiting time for data transmission, which manifests as abnormal fluctuations in connection delay (such as increased delay and increased jitter). Conversely, if the terminals use different links or there is no co-frequency conflict, the delay is relatively stable. Therefore, the delay data of different terminals will show similar abnormal characteristics in the co-frequency scenario (such as the time when the delay peak occurs and the link index overlaps), which provides a theoretical basis for identifying the regular influence of co-frequency behavior. The interaction between terminals and links is converted into structured delay data. Co-frequency behavior can cause the delay values ​​of different terminals on the same link (row) and at the same allocation times (column) to be highly correlated (such as increasing or fluctuating in sync). This correlation is further amplified through subsequent normalization and feature extraction. Ultimately, co-frequency terminal pairs can be quickly located through contour overlap recognition. Converting normalized delay values ​​into grayscale images leverages the spatial correlation of image features to simplify the identification of multi-terminal co-frequency behavior. Normalized delay values ​​(in the range [0, 1]) are abstract numerical values, making direct numerical comparison inefficient for identifying multi-terminal co-frequency associations. However, converting them into grayscale images (grayscale range [0, 255]) maps delay magnitude to pixel brightness. Greater delays are associated with higher (or lower) grayscale values, and the delay distribution pattern is translated into a light-dark distribution pattern in the image. This visualization allows for intuitive presentation of terminal-link interactions (such as the delay variation of a link during multiple allocations) as "image outlines." The shape and position of the contour directly reflect the distribution characteristics of the delay data (for example, in which allocation times a link has abnormal delay). When two terminals have co-frequency behavior, the grayscale image will have overlapping contours in the corresponding links (rows) and allocation times (columns). The pixel brightness patterns in the overlapping areas are consistent, indicating that the delay characteristics of the two are highly consistent in this link and time period, that is, co-frequency interference exists. Compared with direct comparison of numerical matrices, spatial overlap recognition of image contours is more efficient and can quickly screen out co-frequency terminal combination pairs.

[0010] As a further preferred solution of the present invention, the specific implementation process of step S6 includes: Based on the coordinates (y, i) of the co-frequency control behavior point, the IoT terminal is separated each time the low-orbit satellite link connection is allocated. With IoT terminals The co-frequency selected low-orbit satellite link index identifier generates a co-frequency control link identifier set, which is recorded as ; Based on the co-frequency control link identifier set, the importance score of LEO satellite link y in the LEO satellite link connection allocation is quantified with LEO satellite link y as the co-frequency guide. , where U represents the co-frequency combination pair set consisting of IoT terminal combination pairs with low-orbit satellite communication co-frequency behavior, and |U| represents the total number of IoT terminal combination pairs contained in the co-frequency combination pair set U; When the low-orbit satellite link y is used as the common frequency guide, if , then let , otherwise let ; When allocating the next low-orbit satellite link connection, the low-orbit satellite link with the highest importance score will be prioritized for IoT terminals to call. When the number of IoT terminals whose low-orbit satellite links have been called reaches the upper limit, the low-orbit satellite links that have not been called will be selected in descending order of importance score. It should be noted that the link importance score quantifies the link's "co-frequency popularity" and "reliability priority" in actual communications, and the number of allocations is a key parameter to ensure the statistical significance of the score. The importance score must be based on the link's "historical performance" in co-frequency selection. Co-frequency behavior in a single allocation may be accidental (such as misselection caused by temporary signal interference). The accumulated data from multiple allocations can filter out accidental factors and accurately reflect the actual frequency of the link's co-frequency selection by terminals. The more allocations, the larger the statistical sample size and the more reliable the score. The importance of a link depends not only on the number of co-frequency occurrences but also on the "persistence" of co-frequency occurrences. For example, a link that is co-frequencyed 8 times in 10 allocations is obviously more important than a link that is co-frequencyed only 2 times. By introducing the number of allocations, the scoring formula can take into account the temporal distribution of co-frequency behavior, ensuring that links with "long-term, stable high-frequency co-frequency and controllable interference" are preferentially selected, ultimately achieving dynamic optimization of link resource allocation.

[0011] As a further preferred solution of the present invention, the remote control method of the Internet of Things terminal based on low-orbit satellite communication is performed by an Internet of Things terminal remote control system based on low-orbit satellite communication, and the system includes: a coverage control module, a dynamic label module, a matrix processing module, a portrait extraction module, a common frequency identification module and a link optimization module; The coverage control module is used to compile unique identifiers for IoT terminals and low-orbit satellite links, establish coverage control relationships based on link usage behavior during terminal communication, and generate allocation control behavior sets when allocating link connections; The dynamic label module, based on the allocation control behavior set, adds a link behavior label to the terminal cluster connected in each link allocation, generates a dynamic control label set and records the delay information of the terminal connection link in real time; The matrix processing module is used to construct a communication behavior data matrix with link identifiers and allocation sequence numbers as dimensions, and to normalize the connection delays in the matrix; The image extraction module is used to map the normalized delay value to a grayscale value to generate a data image, and extract the image feature contour of the image through an edge detection algorithm; The co-frequency identification module is used to identify the overlapping areas of characteristic profiles of different terminals, screen co-frequency terminal combination pairs and mark co-frequency control behavior points; The link optimization module generates a co-frequency control link identification set based on the co-frequency control behavior point, quantifies the link importance score and provides a priority selection basis for the terminal.

[0012] Compared with the existing technology, the beneficial effects achieved by the present invention are as follows: by establishing a coverage control relationship between IoT terminals and low-orbit satellite links, generating a set of distribution control behaviors and recording connection delays, the scattered communication behaviors can be converted into traceable associated data, facilitating matching analysis of terminals and links; constructing a data matrix based on delay and normalizing it, converting it into a data portrait and extracting feature contours, simplifying the identification of multi-terminal co-frequency behaviors by utilizing the spatial correlation of image features, so as to quickly solve the problem of hidden co-frequency interference; identifying co-frequency behaviors through contour overlap, and quantifying link importance scores to optimize terminal link selection. The present invention solves the problems of static allocation of traditional low-orbit satellite links and difficulty in controlling co-frequency interference, improves link resource utilization and terminal communication reliability, and is suitable for remote control of wide-area IoT scenarios such as oceans and deserts. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0014] Figure 1 It is a schematic diagram of the steps of the remote control method of the Internet of Things terminal based on low-orbit satellite communication of the present invention. DETAILED DESCRIPTION

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0016] See also Figure 1 In the first embodiment, a remote control method for an Internet of Things terminal based on low-orbit satellite communication is provided, the method comprising: Step S1: Based on the low-orbit satellite link behavior used by the IoT terminal during the communication process, a coverage control relationship is generated between the IoT terminal and the low-orbit satellite link; when the IoT terminal performs low-orbit satellite link connection allocation, an allocation control behavior set is formed based on the coverage control relationship and according to the low-orbit satellite link index identifier; Exemplarily, index identifiers of the IoT terminal and the low-orbit satellite link accessed by the IoT terminal are compiled respectively, and a coverage control relationship is generated between the IoT terminal and the low-orbit satellite link. The coverage control relationship is recorded based on the low-orbit satellite link behavior used by the IoT terminal during the communication process. When the IoT terminal allocates low-orbit satellite link connections, a set of allocation control behaviors is generated based on the coverage control relationship, which is recorded as ,in, represents the allocation control behavior set formed when the i-th low-orbit satellite link connection allocation is performed, represents the dynamic IoT terminal cluster connected to the yth LEO satellite link during the i-th LEO satellite link connection allocation, and , Indicates that the e-th IoT terminal of the y-th LEO satellite link is called when the i-th LEO satellite link connection is allocated. E represents the total number of IoT terminals compiled, and Y represents the total number of LEO satellite links compiled. For example, in the scenario of an ocean-going vessel IoT monitoring system, there are 10 ship terminals (numbered N1-N10) and 5 low-orbit satellite links (numbered L1-L5). The terminals need to transmit data such as location and equipment status through the links. The communication delay must be ≤ 0.8s and the co-frequency conflict rate must be ≤ 8%. When performing override control and allocation actions: Generate unique identifiers for terminals N1-N10 and links L1-L5, and record terminal communication behavior (e.g., N1 primarily uses L1 and L2, and N3 primarily uses L2 and L3); During the first link allocation, an allocation control behavior set is generated based on the coverage control relationship: L1 connection {N1, N6}, L2 connection {N1, N3, N7}, L3 connection {N3, N8}, etc., to achieve dynamic association between links and terminals.

[0017] Step S2: Based on the allocation control behavior set, when allocating low-orbit satellite link connections, a link behavior label is generated to create a dynamic control label set, and the dynamic control label set records the connection delay information of the IoT terminal connecting to the low-orbit satellite link; For example, based on the allocation control behavior set, when performing the i-th low-orbit satellite link connection allocation, a link behavior label is added to the dynamic IoT terminal cluster connected to the y-th low-orbit satellite link, which is recorded as ,and 、 , coordinate all link behavior labels to generate a dynamic control label set, denoted as , where I represents the total number of low-orbit satellite link connections; Based on the dynamic control tag set, real-time recording of IoT terminals during the i-th low-orbit satellite link connection allocation The connection delay of the yth low-orbit satellite link is recorded as ,and 、 ; When performing dynamic tagging and time delay recording: Adding behavior labels to the L2 connected terminal cluster {N1, N3, N7} to generate a dynamic control label set; The recorded delays show that the delay between N1 and L2 is 0.5s, the delay between N3 and L2 is 0.6s, and the delay between N7 and L2 is 0.7s. During the second allocation, the delay between N1 and L2 is 0.4s, and the delay between N3 and L2 is 0.5s.

[0018] Step S3: Based on the connection delay, a communication behavior data matrix about the connection delay is constructed with the low-orbit satellite link index identification number as the row number and the low-orbit satellite link connection allocation order number as the column number. All connection delays in the communication behavior data matrix are normalized to obtain a normalized delay value. For example, the IoT terminal The corresponding generated communication behavior data matrix is ​​recorded as , then the communication behavior data matrix The data recorded in the yth row and the ith column is the connection delay ; Communication behavior data matrix All connection delays in the normalized process are processed to obtain the normalized delay value , where Represents the communication behavior data matrix The minimum value of the continuous delay in Represents the communication behavior data matrix The maximum value of the continuous delay in ; When constructing and normalizing the matrix: The communication behavior data matrix is ​​constructed with links L1-L5 as rows and allocation times 1-6 as columns. Part of the latency data for L2 is as follows: Table 1 Partial latency data of L2 ; Assuming that the minimum and maximum values ​​of all continuous delays in the communication behavior data matrix are 0.4 and 0.7 respectively, the first normalized delay value of L2 is (0.5-0.4) / (0.7-0.4)≈0.33.

[0019] Step S4: Based on the normalized delay value, the communication behavior data matrix is ​​converted into a traffic behavior data portrait, and the traffic behavior data portrait is subjected to edge extraction to form an image feature contour; For example, the normalized delay value is mapped to the grayscale value range [0, 255], and the mapping formula is: ,in, Indicates that the communication behavior data matrix Transformed into the grayscale value of the pixel in the yth row and ith column of the traffic behavior data portrait, and the communication behavior data matrix The matrix element in the yth row and the ith column corresponds to the pixel point with coordinates (y, i) in the traffic behavior data portrait, generating the IoT terminal Corresponding traffic behavior data portrait ; Use edge detection algorithm to profile traffic behavior data Perform edge extraction to form image feature contours, recorded as , and the image feature contour There are continuous pixel points recorded in When generating images and extracting contours: Map the normalized value to the grayscale value (0→0, 1→255). The first L2 normalization value of 0.33 corresponds to grayscale 84 to generate a data portrait. The edge detection algorithm is used to extract the contours. The contour of N1 shows that the grayscale of the L2 link is concentrated in the range of 0.3-0.5 (normalized value), and the grayscale of the L2 link of N3 is concentrated in the range of 0.4-0.6, with obvious overlap.

[0020] Step S5: Based on the image feature contours, the overlapping contour boundaries between IoT terminals are identified to screen out IoT terminal pairs that have co-frequency behavior in low-orbit satellite communications, and the co-frequency control behavior points are marked within the overlapping image area; For example, for any two IoT terminals and ,and , get the image feature contour and image feature contours If the overlapping image area is greater than or equal to the preset image matching threshold, the IoT terminal is determined to be and There is a low-orbit satellite communication common frequency behavior between them, otherwise it is determined that the IoT terminal and There is no common frequency behavior of low-orbit satellite communication; For IoT terminals IoT terminals with co-frequency behavior in low-orbit satellite communications , and e≠q, mark each pixel in the overlapping image area as a common frequency control behavior point; When performing common frequency identification: The contour overlap area is calculated to be 52% (the preset threshold is 30%), and it is determined that N1 and N3 have a common frequency behavior in L2, and the common frequency control behavior point in the overlapping area is marked.

[0021] Step S6: Based on the coordinates of the co-frequency control behavior points, a co-frequency control link identifier set is generated to quantify the importance score of the low-orbit satellite link in the case of low-orbit satellite link connection allocation, so as to provide control selection for each IoT terminal; For example, based on the coordinates (y, i) of the co-frequency control behavior point, the IoT terminal With IoT terminals The co-frequency selected low-orbit satellite link index identifier generates a co-frequency control link identifier set, which is recorded as ; Based on the co-frequency control link identifier set, the importance score of LEO satellite link y in the LEO satellite link connection allocation is quantified with LEO satellite link y as the co-frequency guide. , where U represents the co-frequency combination pair set consisting of IoT terminal combination pairs with low-orbit satellite communication co-frequency behavior, and |U| represents the total number of IoT terminal combination pairs contained in the co-frequency combination pair set U; When the low-orbit satellite link y is used as the common frequency guide, if , then let , otherwise let ; When allocating the next low-orbit satellite link connection, the low-orbit satellite link with the highest importance score will be prioritized for IoT terminals to call. When the number of IoT terminals whose low-orbit satellite links have been called reaches the upper limit, the low-orbit satellite links that have not been called will be selected in descending order of importance score. When performing link scoring and optimization selection: In the 6 allocations, L2 has an importance score of 0.67. The common frequency combination is only N1-N3, and it is preferentially called by N1 and N3 according to the highest score.

[0022] In the second embodiment, the remote control system for an IoT terminal based on low-orbit satellite communication is used to execute the remote control method for an IoT terminal based on low-orbit satellite communication in the first embodiment. The system includes a coverage control module, a dynamic tag module, a matrix processing module, a portrait extraction module, a common frequency identification module, and a link optimization module. The coverage control module is used to compile unique identifiers for IoT terminals and low-orbit satellite links, establish coverage control relationships based on the link usage behavior of the terminal during communication, and generate allocation control behavior sets when allocating link connections; The dynamic label module, based on the allocation control behavior set, adds link behavior labels to the terminal clusters connected in each link allocation, generates a dynamic control label set, and records the latency information of the terminal connection link in real time; The matrix processing module is used to construct a communication behavior data matrix based on link identifiers and allocation sequence numbers, and to normalize the connection delays in the matrix; The image extraction module is used to map the normalized delay value to a grayscale value to generate a data image, and extract the image feature contour of the image through an edge detection algorithm; The co-frequency identification module is used to identify the overlapping areas of the characteristic profiles of different terminals, select co-frequency terminal combination pairs and mark the co-frequency control behavior points; The link optimization module generates a co-frequency control link identification set based on the co-frequency control behavior points, quantifies the link importance score and provides a priority selection basis for the terminal.

[0023] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0024] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A remote control method for an Internet of Things terminal based on low-orbit satellite communication, characterized in that: The method comprises the following steps: Step S1: Based on the low-orbit satellite link behavior used by the IoT terminal during the communication process, a coverage control relationship is generated between the IoT terminal and the low-orbit satellite link; when the IoT terminal performs low-orbit satellite link connection allocation, an allocation control behavior set is formed based on the coverage control relationship and according to the low-orbit satellite link index identifier; Step S2: Based on the allocation control behavior set, when allocating low-orbit satellite link connections, a link behavior label is generated to create a dynamic control label set, and the dynamic control label set records the connection delay information of the IoT terminal connecting to the low-orbit satellite link; Step S3: Based on the connection delay, a communication behavior data matrix about the connection delay is constructed with the low-orbit satellite link index identification number as the row number and the low-orbit satellite link connection allocation order number as the column number. All connection delays in the communication behavior data matrix are normalized to obtain a normalized delay value. Step S4: Based on the normalized delay value, the communication behavior data matrix is ​​converted into a traffic behavior data portrait, and the traffic behavior data portrait is subjected to edge extraction to form an image feature contour; Step S5: Based on the image feature contours, the overlapping contour boundaries between IoT terminals are identified to screen out IoT terminal pairs that have co-frequency behavior in low-orbit satellite communications, and the co-frequency control behavior points are marked within the overlapping image area; Step S6: Based on the coordinates of the co-frequency control behavior points, a co-frequency control link identifier set is generated to quantify the importance score of the low-orbit satellite link in the case of low-orbit satellite link connection allocation, so as to provide control selection for each IoT terminal.

2. The remote control method for an Internet of Things terminal based on low-orbit satellite communication according to claim 1, characterized in that: The specific implementation process of step S1 includes: Compile index identifiers for the IoT terminal and the low-orbit satellite link accessed by the IoT terminal, and generate a coverage control relationship between the IoT terminal and the low-orbit satellite link. The coverage control relationship is recorded based on the low-orbit satellite link behavior used by the IoT terminal during communication. When the IoT terminal allocates low-orbit satellite link connections, a set of allocation control behaviors is generated based on the coverage control relationship, which is recorded as ,in, represents the allocation control behavior set formed when the i-th low-orbit satellite link connection allocation is performed, represents the dynamic IoT terminal cluster connected to the yth LEO satellite link during the i-th LEO satellite link connection allocation, and , It indicates that the e-th IoT terminal of the y-th LEO satellite link is called when the i-th LEO satellite link connection is allocated. E represents the total number of IoT terminals compiled, and Y represents the total number of LEO satellite links compiled.

3. The remote control method for an Internet of Things terminal based on low-orbit satellite communication according to claim 2, characterized in that: The specific implementation process of step S2 includes: Based on the allocation control behavior set, when performing the i-th low-orbit satellite link connection allocation, a link behavior label is added to the dynamic IoT terminal cluster connected to the y-th low-orbit satellite link, which is recorded as ,and 、 , coordinate all link behavior labels to generate a dynamic control label set, denoted as , where I represents the total number of low-orbit satellite link connections; Based on the dynamic control tag set, real-time recording of IoT terminals during the i-th low-orbit satellite link connection allocation The connection delay of the yth low-orbit satellite link is recorded as ,and 、 .

4. The remote control method for an Internet of Things terminal based on low-orbit satellite communication according to claim 3, characterized in that: The specific implementation process of step S3 includes: IoT terminals The corresponding generated communication behavior data matrix is ​​recorded as , then the communication behavior data matrix The data recorded in the yth row and the ith column is the connection delay ; Communication behavior data matrix All connection delays in the normalized process are processed to obtain the normalized delay value , where Represents the communication behavior data matrix The minimum value of the continuous delay in Represents the communication behavior data matrix The maximum value of the continuous delay in .

5. The remote control method for an Internet of Things terminal based on low-orbit satellite communication according to claim 4, characterized in that: The specific implementation process of step S4 includes: Map the normalized delay value to the grayscale value range [0, 255], the mapping formula is ,in, Indicates that the communication behavior data matrix Transformed into the grayscale value of the pixel in the yth row and ith column of the traffic behavior data portrait, and the communication behavior data matrix The matrix element in the yth row and the ith column corresponds to the pixel point with coordinates (y, i) in the traffic behavior data portrait, generating the IoT terminal Corresponding traffic behavior data portrait ; Use edge detection algorithm to profile traffic behavior data Perform edge extraction to form image feature contours, recorded as , and the image feature contour Continuous pixels are recorded in it.

6. The remote control method for an Internet of Things terminal based on low-orbit satellite communication according to claim 5, characterized in that: The specific implementation process of step S5 includes: For any two IoT terminals and ,and , get the image feature contour and image feature contours If the overlapping image area is greater than or equal to the preset image matching threshold, the IoT terminal is determined to be and There is a low-orbit satellite communication common frequency behavior between them, otherwise it is determined that the IoT terminal and There is no common frequency behavior of low-orbit satellite communication; For IoT terminals IoT terminals with co-frequency behavior in low-orbit satellite communications , and e≠q, each pixel point in the overlapping image area is marked as a common frequency control behavior point.

7. The remote control method for an Internet of Things terminal based on low-orbit satellite communication according to claim 6, characterized in that: The specific implementation process of step S6 includes: Based on the coordinates (y, i) of the co-frequency control behavior point, the IoT terminal is separated each time the low-orbit satellite link connection is allocated. With IoT terminals The co-frequency selected low-orbit satellite link index identifier generates a co-frequency control link identifier set, which is recorded as ; Based on the co-frequency control link identifier set, the importance score of LEO satellite link y in the LEO satellite link connection allocation is quantified with LEO satellite link y as the co-frequency guide. , where U represents the co-frequency combination pair set consisting of IoT terminal combination pairs with low-orbit satellite communication co-frequency behavior, and |U| represents the total number of IoT terminal combination pairs contained in the co-frequency combination pair set U; When the low-orbit satellite link y is used as the common frequency guide, if , then let , otherwise let ; When allocating the next low-orbit satellite link connection, priority will be given to the low-orbit satellite link with the highest importance score for the IoT terminal to call. When the number of IoT terminals whose low-orbit satellite links have been called reaches the upper limit, the IoT terminals that have not yet called will be selected in descending order of importance score.

8. The remote control method for an Internet of Things terminal based on low-orbit satellite communication according to claim 1, characterized in that: The remote control method for an Internet of Things terminal using low-orbit satellite communication is performed by a remote control system for an Internet of Things terminal using low-orbit satellite communication. The system includes: a coverage control module, a dynamic label module, a matrix processing module, a portrait extraction module, a common frequency identification module, and a link optimization module. The coverage control module is used to compile unique identifiers for IoT terminals and low-orbit satellite links, establish coverage control relationships based on link usage behavior during terminal communication, and generate allocation control behavior sets when allocating link connections; The dynamic label module, based on the allocation control behavior set, adds a link behavior label to the terminal cluster connected in each link allocation, generates a dynamic control label set and records the delay information of the terminal connection link in real time; The matrix processing module is used to construct a communication behavior data matrix with link identifiers and allocation sequence numbers as dimensions, and to normalize the connection delays in the matrix; The image extraction module is used to map the normalized delay value to a grayscale value to generate a data image, and extract the image feature contour of the image through an edge detection algorithm; The co-frequency identification module is used to identify the overlapping areas of characteristic profiles of different terminals, screen co-frequency terminal combination pairs and mark co-frequency control behavior points; The link optimization module generates a co-frequency control link identification set based on the co-frequency control behavior point, quantifies the link importance score and provides a priority selection basis for the terminal.

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