Link planning method and device, equipment, storage medium and product

Abstract

The invention belongs to the technical field of communication, and discloses a link planning method and device, equipment, a storage medium and a product. According to the invention, a link weight matrix is constructed according to communication information between each layer of constellation and each gateway station, then a link matrix between each layer of constellation and each gateway station is constructed, and each element in the link matrix is used for representing a link connection relationship between each layer of constellation and each gateway station. And the value of each element in the link matrix is solved based on the link weight matrix, and the optimal connection gateway station of each layer of constellation is determined according to the value of each element in the link matrix. According to the method and the device, the value of each element in the link matrix is solved based on the link weight matrix, and each layer of constellation is limited to establish a link with only one gateway station, so that the link communication relationship between each layer of constellation and each gateway station can be obtained, and the optimal connection gateway station for establishing a satellite-ground link with each layer of constellation can be obtained; and the data of the whole multi-layer constellation system is ensured to be transmitted back through the optimal connection gateway station.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a link planning method, apparatus, device, storage medium and product. Background Technology

[0002] Compared to single-constellation systems, gateway station link planning in multi-constellation systems presents a more complex challenge. Multi-constellation systems consist of multiple constellations. In such systems, the number of satellites is greater, and overlapping coverage is common. A gateway station can simultaneously be within the coverage area of ​​multiple satellites across multiple constellations. The rules for establishing gateway station links are more complex, and the positional relationships between satellites in different constellations are unstable, generally preventing the establishment of inter-constellation links. Therefore, it is necessary to design appropriate gateway station link establishment strategies to ensure data can be transmitted back from each constellation level. Summary of the Invention

[0003] The main purpose of this application is to provide a link planning method, apparatus, device, storage medium and product, which aims to solve the technical problem of how to ensure that each layer of constellation has at least one satellite-to-ground link and that the data of the entire multi-layer constellation system can be transmitted back.

[0004] To achieve the above objectives, this application provides a link planning method, which includes the following steps: A link weight matrix is ​​constructed based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellations, and each constellation layer includes at least one satellite. Construct a link matrix between each constellation layer and each gateway station, wherein each element in the link matrix is ​​used to represent the link connectivity relationship between each constellation layer and each gateway station; The value of each element in the link matrix is ​​calculated based on the link weight matrix, and the optimal connection gateway station for each constellation layer is determined based on the value of each element in the link matrix.

[0005] Optionally, the step of solving for the value of each element in the link matrix based on the link weight matrix, and determining the optimal connection gateway station for each constellation layer based on the value of each element in the link matrix, includes: A link planning model is constructed based on the link weight matrix and the link matrix; The constraints for constructing the link matrix are based on the maximum number of links at each gateway station; Based on the constraints, the values ​​of each element in the link matrix are solved using convex optimization, and the optimal connection gateway stations for each constellation layer are determined based on the values ​​of each element in the link matrix.

[0006] Optionally, after solving for the value of each element in the link matrix based on the link weight matrix, and determining the optimal connection gateway station for each constellation layer based on the value of each element in the link matrix, the method further includes: For any optimal connection gateway, determine the target layer constellation corresponding to that optimal connection gateway; Determine the first link weight between all satellites in the target layer constellation and the optimal connection gateway station, and select the best access satellite for the optimal connection gateway station from all satellites in the target layer constellation based on the first link weight; Determine the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station, and select target satellites from the visible satellite list according to the second link weights. The number of target satellites is the maximum number of links corresponding to the optimal connection gateway station minus 1. Add the target satellite to the list of satellites to be accessed by the optimal connection gateway station; Based on the list of satellites to be accessed and the list of best access satellites, construct a list of access satellites for all optimally connected gateway stations, and perform link planning for all optimally connected gateway stations based on the list of access satellites.

[0007] Optionally, the step of constructing an access satellite list of all optimally connected gateway stations based on the list of satellites to be accessed and the list of optimally accessed satellites, and performing link planning for all optimally connected gateway stations based on the access satellite list, includes: Identify duplicate satellites in the list of satellites to be accessed for all optimal connection gateways, and add the duplicate satellites to the list of satellites to be confirmed; For any unconfirmed satellite in the list of unconfirmed satellites, the actual connected gateway station of the unconfirmed satellite is determined based on the third link weight between the unconfirmed satellite and the corresponding optimal connected gateway station. Identify the remaining connecting gateway stations among all optimal connecting gateway stations, excluding the actual connecting gateway station, and delete the unconfirmed satellite from the visible satellite list and the satellite to be accessed list of the remaining connecting gateway stations to obtain the updated visible satellite list and the updated satellite to be accessed list corresponding to all optimal connecting gateway stations. The process involves determining the list length corresponding to the updated list of satellites to be accessed for each optimal connection gateway station. If the list length is less than a preset length, the process returns to the step of determining the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station, and selecting a target satellite from the visible satellite list according to the second link weight, until there are no duplicate satellites in the updated list of satellites to be accessed for all optimal connection gateway stations, and the list length of the updated list of satellites to be accessed for all optimal connection gateway stations is equal to the preset length. Based on the updated list of satellites to be accessed and the list of best access satellites, an access satellite list for all optimally connected gateway stations is constructed, and link planning is performed for all optimally connected gateway stations based on the access satellite list.

[0008] Optionally, after the steps of constructing an access satellite list of all optimally connected gateway stations based on the list of satellites to be accessed and the list of optimally accessed satellites, and performing link planning for all optimally connected gateway stations based on the access satellite list, the method further includes: For any optimal connection gateway station, all initial links of the optimal connection gateway station are determined according to the access satellite list, and the communication frequency band of each initial link is determined; If the communication frequency bands overlap, the initial links with overlapping frequencies will be included in the set of links to be detected. Calculate the interference value between any two links in the set of links to be detected, and determine the link pairs that need to be interfered with based on the interference value; Construct an undirected graph based on the link pairs, and determine the maximal cliques in the undirected graph; Frequency segmentation detection is performed on all target links in the maximum clique, and the target frequency bands corresponding to all target links of the optimal connection gateway station are determined based on the detection results.

[0009] Optionally, the step of performing frequency segmentation detection on all target links in the maximal clique and determining the target frequency bands corresponding to all target links of the optimal connection gateway station based on the detection results includes: Calculate the first throughput reduction rate and the second throughput reduction rate before frequency partitioning for all target links in the maximal clique; If the first throughput decrease rate is greater than the second throughput decrease rate, then the detection result is determined to be that frequency segmentation is required; If the detection result indicates that frequency segmentation is required, determine the available frequency bands of all target links in the maximal clique; Based on the available frequency bands, the frequency bands are evenly allocated to all target links to obtain the target frequency bands corresponding to all target links of the optimal connection gateway station.

[0010] Furthermore, to achieve the above objectives, this application also provides a link planning apparatus, the link planning apparatus comprising: The link weight matrix construction module is used to construct a link weight matrix based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellations, and each constellation layer includes at least one satellite. The link matrix construction module is used to construct the link matrix between each constellation layer and each gateway station, wherein each element in the link matrix is ​​used to represent the link connectivity relationship between each constellation layer and each gateway station; The gateway station determination module is used to solve for the value of each element in the link matrix based on the link weight matrix, and determine the optimal connection gateway station for each constellation layer according to the value of each element in the link matrix.

[0011] In addition, to achieve the above objectives, this application also proposes a link planning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the link planning method described above.

[0012] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and which, when executed by a processor, implements the steps of the link planning method described above.

[0013] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the link planning method described above.

[0014] This application constructs a link weight matrix based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellation layers, each containing at least one satellite. Then, a link matrix is ​​constructed between each constellation layer and each gateway station. Each element in the link matrix represents the link connectivity between each constellation layer and each gateway station. The values ​​of each element in the link matrix are then calculated based on the link weight matrix, and the optimal gateway station for each constellation layer is determined based on these values. This application calculates the values ​​of each element in the link matrix based on the link weight matrix and restricts each constellation layer to establishing a link with only one gateway station. This allows for the determination of the link connectivity between each constellation layer and each gateway station, thereby identifying the optimal gateway station for establishing a satellite-to-ground link with each constellation layer. This ensures that data from the entire multi-layer constellation system is transmitted back through the optimal gateway station. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a flowchart illustrating the first embodiment of the link planning method of this application; Figure 2 This is a flowchart illustrating the second embodiment of the link planning method of this application; Figure 3 This is a flowchart illustrating the third embodiment of the link planning method of this application; Figure 4 This is a schematic diagram of an undirected graph representing an embodiment of the link planning method of this application; Figure 5 This is a structural block diagram of the first embodiment of the link planning device of this application; Figure 6 This is a schematic diagram of the link planning device for the hardware operating environment involved in the embodiments of this application.

[0018] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0019] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0020] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0021] The main solution of this application embodiment is as follows: A link weight matrix is ​​constructed based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellation layers, and each constellation layer includes at least one satellite. A link matrix is ​​constructed between each constellation layer and each gateway station, where each element in the link matrix represents the link connectivity between each constellation layer and each gateway station. The values ​​of each element in the link matrix are calculated based on the link weight matrix, and the optimal gateway station for each constellation layer is determined based on the values ​​of each element in the link matrix.

[0022] Compared to single-constellation systems, gateway station link planning in multi-constellation systems presents a more complex challenge. Multi-constellation systems consist of multiple constellations. In such systems, the number of satellites is greater, and overlapping coverage is common. A gateway station can simultaneously be within the coverage area of ​​multiple satellites across multiple constellations. The rules for establishing gateway station links are more complex, and the positional relationships between satellites in different constellations are unstable, generally preventing the establishment of inter-constellation links. Therefore, it is necessary to design appropriate gateway station link establishment strategies to ensure data can be transmitted back from each constellation level.

[0023] This application constructs a link weight matrix based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellation layers, each containing at least one satellite. Then, a link matrix is ​​constructed between each constellation layer and each gateway station. Each element in the link matrix represents the link connectivity between each constellation layer and each gateway station. The values ​​of each element in the link matrix are then calculated based on the link weight matrix, and the optimal gateway station for each constellation layer is determined based on these values. This application calculates the values ​​of each element in the link matrix based on the link weight matrix and restricts each constellation layer to establishing a link with only one gateway station. This allows for the determination of the link connectivity between each constellation layer and each gateway station, thereby identifying the optimal gateway station for establishing a satellite-to-ground link with each constellation layer. This ensures that data from the entire multi-layer constellation system is transmitted back through the optimal gateway station.

[0024] It should be noted that the implementing entity of this application may be a device capable of obtaining gateway station information, satellite information, and information between the gateway station and the satellite, such as a computer or other satellite communication equipment.

[0025] Based on this, embodiments of this application provide a link planning method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the link planning method of this application.

[0026] In this embodiment, the link planning method includes the following steps: Step S10: Construct a link weight matrix based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellation layers, and each constellation layer includes at least one satellite.

[0027] It should be understood that a multi-layer constellation system includes at least two constellation layers, and each constellation layer includes at least one satellite. For each constellation layer and each gateway station in a multi-layer constellation system, communication information between each constellation layer and each gateway station can be obtained. This communication information may include the shortest path, longest visibility duration, and maximum received signal quality between each constellation layer and each gateway station.

[0028] Understandably, a link weight matrix can be constructed based on the communication information between each constellation layer and each gateway station. Assuming the number of gateway stations in the multi-layer constellation system is X, i=0,...,X-1, and the number of constellation layers is Y, j=0,...,Y-1, the link weight matrix can be expressed as:

[0029] In the formula, W represents the link weight matrix, W ij This represents the link weight between the i-th gateway station and the j-th layer constellation. In one feasible embodiment, taking the maximum received signal quality as an example, the i-th gateway station receives the maximum signal quality from the satellites in the j-th layer constellation. The stronger the signal quality, the greater the link weight. Therefore, the link weight can be set based on the maximum received signal quality.

[0030] Step S20: Construct a link matrix between each constellation layer and each gateway station, wherein each element in the link matrix is ​​used to represent the link connectivity relationship between each constellation layer and each gateway station.

[0031] Understandably, the link weights between each constellation layer and each gateway station can be constructed and expressed as:

[0032] In the formula, E represents the link matrix, E ij E represents the link connectivity between the i-th gateway station and the j-th layer constellation. ij The value of E is 0 or 1. ij A value of 0 indicates that there is no link between the i-th gateway station and the j-th layer constellation; otherwise, it indicates that a link has been established between the i-th gateway station and the j-th layer constellation.

[0033] Step S30: Solve for the value of each element in the link matrix based on the link weight matrix, and determine the optimal connection gateway station for each constellation layer according to the value of each element in the link matrix.

[0034] It should be understood that the link weight matrix is ​​a known constant, and the value of each element in the link matrix is ​​an unknown variable. In this embodiment, the value of each element in the link matrix can be solved based on the link weight matrix, and the optimal connection gateway station of each constellation can be determined according to the value of each element in the link matrix.

[0035] Furthermore, in order to accurately solve for the value of each element in the link matrix, in this embodiment, step S30 includes: constructing a link planning model based on the link weight matrix and the link matrix; constructing constraints on the link matrix according to the maximum number of links of each gateway station; solving for the value of each element in the link matrix using convex optimization based on the constraints, and determining the optimal connection gateway station for each constellation layer according to the value of each element in the link matrix.

[0036] Understandably, a link planning model can be constructed based on the link weight matrix and the link matrix. This link planning model can be a link planning function, expressed as:

[0037] It should be understood that, due to the limited number of links that each gateway station can establish, and based on fairness and the actual needs of data transmission, if there are no inter-satellite links between constellations, then each gateway station needs to establish at least one power supply link with each constellation layer for command / data transmission. This embodiment can construct the constraints of the link matrix based on the maximum number of links for each gateway station. These constraints may include: 1. That is, for any gateway station i, the sum of the number of links with each layer of the constellation is less than or equal to the maximum number of links of the i-th gateway station; 2. That is, for any constellation layer j, only one link is established with a gateway station; 3. E ij The value can be 0 or 1.

[0038] In practical implementation, the above link planning model is a typical linear programming problem, which can be solved using convex optimization methods to obtain E. ij , specifically E ij As a variable, we get All values, and the E corresponding to the maximum value among these values. ij As a result of the solution, the values ​​of each element in the link matrix are obtained, and the optimal connection gateway station for each constellation layer is determined based on the values ​​of each element in the link matrix. Since the constraint condition includes that for any constellation layer, only one gateway station is established, each constellation layer has a corresponding optimal connection gateway station.

[0039] This embodiment constructs a link weight matrix based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellation layers, each containing at least one satellite. A link matrix is ​​then constructed between each constellation layer and each gateway station, where each element represents the link connectivity between each constellation layer and each gateway station. The values ​​of each element in the link matrix are then calculated based on the link weight matrix, and the optimal gateway station for each constellation layer is determined based on these values. This application calculates the values ​​of each element in the link matrix based on the link weight matrix and restricts each constellation layer to establishing a link with only one gateway station. This allows for the determination of the link connectivity between each constellation layer and each gateway station, thereby identifying the optimal gateway station for establishing a satellite-to-ground link with each constellation layer. This ensures that data from the entire multi-layer constellation system is transmitted back through the optimal gateway station.

[0040] refer to Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the link planning method of this application.

[0041] Based on the first embodiment described above, in this embodiment, after step S30, the method further includes: Step S40: For any optimal connection gateway station, determine the target layer constellation corresponding to the optimal connection gateway station.

[0042] It is understood that for any optimal connection gateway station determined in the first embodiment, the target layer constellation corresponding to the optimal connection gateway station can be determined, that is, which layer constellation the optimal connection gateway station establishes a link with.

[0043] Step S50: Determine the first link weight between all satellites in the target layer constellation and the optimal connection gateway station, and select the best access satellite for the optimal connection gateway station from all satellites in the target layer constellation according to the first link weight.

[0044] It should be understood that the target layer constellation may include at least one satellite. The first link weights between all satellites in the target layer constellation and the optimal connection gateway station can be determined. These first link weights can also be determined based on communication information between the optimal connection gateway station and each satellite in the target layer constellation. The satellite corresponding to the maximum value among all first link weights is then selected as the optimal access satellite for the optimal connection gateway station.

[0045] Step S60: Determine the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station, and select target satellites from the visible satellite list according to the second link weights. The number of target satellites is the maximum number of links corresponding to the optimal connection gateway station minus 1.

[0046] Understandably, the visible satellite list can include all satellites within the visible range of the optimal connection gateway station. The second link weight between each visible satellite in the visible satellite list and the optimal connection gateway station is determined, and target satellites are then selected from the visible satellite list based on these second link weights. Specifically, satellites corresponding to the largest values ​​in the second link weights can be used as target satellites. The number of target satellites is equal to the maximum number of links corresponding to the optimal connection gateway station minus one. The maximum number of links refers to the maximum number of links that the optimal connection gateway station can establish with satellites.

[0047] Step S70: Add the target satellite to the list of satellites to be accessed by the optimal connection gateway station.

[0048] It should be understood that the list of satellites to be accessed may include the satellites that the optimal connection gateway station selects to access based on the link weight. The number of target satellites can be added to the list of satellites to be accessed, which is equal to the maximum number of links of the optimal connection gateway station. In this case, the number of satellites in the list of satellites to be accessed is the maximum number of links of the optimal connection gateway station minus 1.

[0049] Step S80: Construct an access satellite list for all optimally connected gateway stations based on the list of satellites to be accessed and the list of optimally accessed satellites, and perform link planning for all optimally connected gateway stations based on the access satellite list.

[0050] Understandably, the access satellite list of the optimal connection gateway station may include the list of satellites to be accessed and the best access satellites. Each optimal connection gateway station corresponds to an access satellite list, and each optimal connection gateway station can establish links with each satellite in the corresponding access satellite list.

[0051] Furthermore, to ensure that each satellite establishes a link with only one optimal connection gateway station, in this embodiment, step S80 includes: identifying duplicate satellites in the list of satellites to be accessed by all optimal connection gateway stations, and adding the duplicate satellites to the list of satellites to be confirmed; for any satellite to be confirmed in the list of satellites to be confirmed, determining the actual connection gateway station of the satellite to be confirmed based on the third link weight between the satellite to be confirmed and the corresponding optimal connection gateway station; identifying the remaining connection gateway stations among all optimal connection gateway stations other than the actual connection gateway stations, and deleting the satellite to be confirmed from the visible satellite list and the list of satellites to be accessed by the remaining connection gateway stations, thereby obtaining the updated visible satellite list and the updated list of satellites to be accessed corresponding to all optimal connection gateway stations; determining... If the updated list length of the satellites to be accessed for each optimal connection gateway station is less than a preset length, the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station is returned, and a target satellite is selected from the visible satellite list according to the second link weight, until there are no duplicate satellites in the updated list of satellites to be accessed for all optimal connection gateway stations, and the list length of the updated list of satellites to be accessed for all optimal connection gateway stations is equal to the preset length; an access satellite list for all optimal connection gateway stations is constructed based on the updated list of satellites to be accessed and the optimal access satellites, and link planning is performed for all optimal connection gateway stations based on the access satellite list.

[0052] It should be understood that after obtaining the list of satellites to be accessed for all optimal connection gateway stations, there may be duplicate satellites. Duplicate satellites in all the satellites to be accessed can be identified and added to the list of satellites to be confirmed. For any satellite in the list of satellites to be confirmed, all optimal connection gateway stations corresponding to that satellite can be identified, and the third link weight between that satellite and each optimal connection gateway station can be determined. The optimal connection gateway station corresponding to the maximum value in the third link weight is taken as the actual connection gateway station.

[0053] Understandably, after obtaining the actual connecting gateway stations corresponding to each satellite to be confirmed, the remaining connecting gateway stations besides the actual connecting gateway stations can be identified, and the satellite to be confirmed can be deleted from the visible satellite list and the satellite to be accessed list corresponding to the remaining connecting gateway stations. That is, the satellite to be confirmed can be deleted from the visible satellite list and the satellite to be accessed list of the other optimal connecting gateway stations besides the actual connecting gateway stations, and the updated visible satellite list and the updated satellite to be accessed list corresponding to all optimal connecting gateway stations can be obtained.

[0054] In the specific implementation, the list length corresponding to the updated list of satellites to be accessed for each optimal connection gateway station can be determined. If the list length is less than a preset length, it indicates that the optimal connection gateway station can also connect to other satellites. The preset length can be the maximum number of links corresponding to the optimal connection gateway station minus 1. At this time, the step of determining the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station can be returned, and the target satellite can be selected from the visible satellite list according to the second link weight to obtain the updated list of satellites to be accessed for all optimal connection gateway stations. If there are no duplicate satellites in the updated list of satellites to be accessed, and the list length of the updated list of satellites to be accessed for all optimal connection gateway stations is equal to the preset length, then the updated list of satellites to be accessed and the best access satellites are used to construct the access satellite list for all optimal connection gateway stations. The access satellite list may include the updated list of satellites to be accessed and the best access satellites, and link planning is performed for all optimal connection gateway stations according to the access satellite list.

[0055] In this embodiment, for any optimal connection gateway station, the target layer constellation corresponding to the optimal connection gateway station is determined. Then, the first link weight between all satellites in the target layer constellation and the optimal connection gateway station is determined. Based on the first link weight, the best access satellite for the optimal connection gateway station is selected from all satellites in the target layer constellation. Next, the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station is determined. Based on the second link weight, target satellites are selected from the visible satellite list. The number of target satellites is the maximum number of links corresponding to the optimal connection gateway station. Then, the target satellites are added to the list of satellites to be accessed for the optimal connection gateway station. Then, based on the list of satellites to be accessed and the best access satellites, an access satellite list for all optimal connection gateway stations is constructed. Finally, link planning is performed for all optimal connection gateway stations based on the access satellite list. In this embodiment, for each optimal connection gateway station, the list of satellites to be accessed for the optimal connection gateway station can be accurately obtained. Then, based on the access satellite list, link planning is performed for all optimal connection gateway stations, and the access satellites corresponding to each optimal connection gateway station can be obtained.

[0056] refer to Figure 3 , Figure 3 This is a flowchart illustrating the third embodiment of the link planning method of this application.

[0057] Based on the above embodiments, in this embodiment, after step S80, the method further includes: Step S90: For any optimal connection gateway station, determine all initial links of the optimal connection gateway station according to the access satellite list, and determine the communication frequency band of each initial link.

[0058] Understandably, for any optimal connection gateway station, all initial links of that optimal connection gateway station can be determined based on the access satellite list. The initial links of the same gateway station are spatially close, and the communication frequency band of each initial link can be determined.

[0059] Step S100: If there is frequency overlap in the communication frequency band, the initial links with frequency overlap are included in the set of links to be detected.

[0060] It should be understood that if the communication frequency bands of an initial link overlap with those of other links of the optimal connection gateway, the initial links with overlapping frequencies will be included in a link set. If the number of elements in the same link set is greater than 1, it indicates that the optimal connection gateway has simultaneously accessed multiple links on the same frequency, and further judgment is needed through interference calculation to group these links into a set of links to be detected. If the communication frequency bands of an initial link do not overlap with those of other links of the optimal connection gateway, the initial link can exclusively use the corresponding frequency band.

[0061] Step S110: Calculate the interference value between any two links to be detected in the set of links to be detected, and determine the link pairs that need to be interfered with based on the interference value.

[0062] Understandably, the interference value between any two links in the set of links to be detected can be calculated. If the interference value exceeds the threshold, interference avoidance is required, and the link pairs that need to be avoided are determined.

[0063] Step S120: Construct an undirected graph based on the link pairs, and determine the maximal cliques in the undirected graph.

[0064] It should be understood that an undirected graph G=(V,E) can be constructed based on link pairs, where each node in V is a satellite, and an edge E is added between two interfering satellite nodes based on interference detection results. (See reference...) Figure 4 , Figure 4 This is a schematic diagram of an undirected graph representing an embodiment of the link planning method of this application. It is assumed that there are 4 satellites. Figure 4 The presence of edges between nodes indicates interference between two links. Specifically, there is interference between the link between the gateway station and satellite 1 and between the gateway station and satellite 2, between the gateway station and satellite 2 and between the gateway station and satellite 3, between the gateway station and satellite 2 and between the gateway station and satellite 4, and between the gateway station and satellite 3 and between the gateway station and satellite 4. The edges between nodes can be considered as link pairs. Figure 4 (1,2) and (2,3,4) are two maximal cliques, and there is interference between the links in each pair of maximal cliques.

[0065] Step S130: Perform frequency segmentation detection on all target links in the maximum clique, and determine the target frequency bands corresponding to all target links of the optimal connection gateway station based on the detection results.

[0066] In its implementation, this embodiment employs frequency segmentation for interference avoidance, ensuring that interfering links do not overlap in frequency bands after segmentation. Frequency segmentation detection is first performed on all target links within a maximal clique to determine if frequency segmentation is necessary. If so, the target frequency bands corresponding to all target links are then identified.

[0067] Furthermore, in order to accurately perform frequency segmentation detection on all target links, in this embodiment, step S130 includes: calculating a first throughput reduction rate and a second throughput reduction rate before frequency segmentation for all target links in the maximal clique; if the first throughput reduction rate is greater than the second throughput reduction rate, then determining that frequency segmentation is required; if the detection result indicates that frequency segmentation is required, determining the available frequency bands for all target links in the maximal clique; and evenly allocating frequency bands to all target links according to the available frequency bands to obtain the target frequency bands corresponding to all target links of the optimal connection gateway station.

[0068] Understandably, the first throughput reduction rate before frequency partitioning and the second throughput reduction rate after frequency partitioning for all target links in the maximal clique can be calculated. The formula for calculating the throughput reduction rate is as follows:

[0069] In the formula, It is the actual bandwidth of the link. That is all available bandwidth. It refers to the maximum spectral efficiency, which depends on the communication system. This is the actual spectral efficiency of the link.

[0070] It should be understood that the above formula can be used to calculate the first throughput reduction rate before frequency segmentation and the second throughput reduction rate after frequency segmentation for all target links. After frequency segmentation, the actual bandwidth and actual spectral efficiency may change. If the first throughput reduction rate is greater than the second throughput reduction rate, the detection result indicates that frequency segmentation is required, and no two links should use overlapping frequency bands; otherwise, frequency segmentation is not necessary. This effectively avoids unnecessary interference avoidance operations.

[0071] In practical implementation, when the detection result indicates that frequency segmentation is required, the maximal cliques that need interference avoidance can be sorted from most to least number of nodes in the clique. The maximal clique with the highest number of nodes is defined as the largest clique. First, frequency allocation is performed on the links in the largest clique to determine the available frequency bands for all target links in the maximal clique. Assuming the available frequency bands are [Freq1, Freq2] and the bandwidth is BW, the frequency bands are evenly allocated to all target links based on the available frequency bands. The frequency band occupied by each target link is BW / N. The frequency band of the first target link is [Freq1, Freq1+BW / N], the frequency band of the second target link is [Freq1+BW / N, Freq1+2BW / N], and so on. After obtaining the frequency bands of all links in the first maximum cluster, the maximum cluster can be deleted, and the next maximum cluster can be obtained. Frequency division is then performed. If the cluster contains allocated links, the actual frequency band used by the link is not changed. The remaining available bandwidth is evenly distributed to other unallocated links in the cluster. This process is repeated until bandwidth is allocated to all links, thus obtaining the target frequency bands corresponding to all target links of the optimal connection gateway station.

[0072] In this embodiment, for any optimally connected gateway station, all initial links of the gateway station are determined based on the access satellite list, and the communication frequency band of each initial link is determined. If there is frequency overlap, the initial links with overlapping frequencies are included in the set of links to be detected. Then, the interference value between any two links to be detected in the set of links to be detected is calculated, and the link pairs that need to be interfered with are determined based on the interference value. Then, an undirected graph is constructed based on the link pairs, and the maximal cliques in the undirected graph are determined. Frequency segmentation detection is then performed on all target links in the maximal cliques, and the target frequency bands corresponding to all target links of the optimally connected gateway station are determined based on the detection results. In a multi-layer constellation system, the isolation angle between multiple links of the same gateway station may be extremely small, and there may even be collinearity. Therefore, this embodiment first determines the link pairs that need to be interfered with, and then performs frequency segmentation on all target links, effectively reducing the interference between links of the same optimally connected gateway station.

[0073] Reference Figure 5 , Figure 5 This is a structural block diagram of the first embodiment of the link planning device of this application.

[0074] like Figure 5 As shown, the link planning device proposed in this application includes: Link weight matrix construction module 10 is used to construct a link weight matrix based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellations, and each constellation layer includes at least one satellite. The link matrix construction module 20 is used to construct the link matrix between each constellation layer and each gateway station, wherein each element in the link matrix is ​​used to represent the link connectivity relationship between each constellation layer and each gateway station; The gateway station determination module 30 is used to solve for the value of each element in the link matrix based on the link weight matrix, and determine the optimal connection gateway station for each constellation layer according to the value of each element in the link matrix.

[0075] This embodiment constructs a link weight matrix based on the communication information between each constellation layer and each gateway station. The multi-layer constellation system includes at least two constellation layers, each containing at least one satellite. A link matrix is ​​then constructed between each constellation layer and each gateway station, where each element represents the link connectivity between each constellation layer and each gateway station. The values ​​of each element in the link matrix are then calculated based on the link weight matrix, and the optimal gateway station for each constellation layer is determined based on these values. This application calculates the values ​​of each element in the link matrix based on the link weight matrix and restricts each constellation layer to establishing a link with only one gateway station. This allows for the determination of the link connectivity between each constellation layer and each gateway station, thereby identifying the optimal gateway station for establishing a satellite-to-ground link with each constellation layer. This ensures that data from the entire multi-layer constellation system is transmitted back through the optimal gateway station.

[0076] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this application. In practical applications, those skilled in the art can select some or all of it to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0077] In addition, for technical details not described in detail in this embodiment, please refer to the link planning method provided in any embodiment of this application, which will not be repeated here.

[0078] Based on the first embodiment of the link planning device described in this application, a second embodiment of the link planning device of this application is proposed.

[0079] In this embodiment, the gateway station determination module 30 is further configured to construct a link planning model based on the link weight matrix and the link matrix; construct constraints on the link matrix according to the maximum number of links for each gateway station; solve for the value of each element in the link matrix using convex optimization based on the constraints; and determine the optimal connection gateway station for each constellation layer based on the value of each element in the link matrix.

[0080] The link planning device further includes a link planning module, used for: determining the target layer constellation corresponding to any optimal connection gateway station; determining the first link weight between all satellites in the target layer constellation and the optimal connection gateway station, and selecting the best access satellite for the optimal connection gateway station from all satellites in the target layer constellation according to the first link weight; determining the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station, and selecting target satellites from the visible satellite list according to the second link weight, wherein the number of target satellites is the maximum number of links corresponding to the optimal connection gateway station minus 1; adding the target satellites to the list of satellites to be accessed for the optimal connection gateway station; constructing an access satellite list for all optimal connection gateway stations according to the list of satellites to be accessed and the best access satellites, and performing link planning for all optimal connection gateway stations according to the access satellite list.

[0081] Furthermore, the link planning module is also used to determine duplicate satellites in the list of satellites to be accessed for all optimal connection gateway stations, and add the duplicate satellites to the list of satellites to be confirmed; for any satellite to be confirmed in the list of satellites to be confirmed, determine the actual connection gateway station for the satellite to be confirmed based on the third link weight between the satellite to be confirmed and the corresponding optimal connection gateway station; determine the remaining connection gateway stations among all optimal connection gateway stations other than the actual connection gateway stations, and delete the satellite to be confirmed from the visible satellite list and the list of satellites to be accessed for the remaining connection gateway stations, thereby obtaining the updated visible satellite list and the updated list of satellites to be accessed for all optimal connection gateway stations; determine the updated list of satellites to be accessed for each optimal connection gateway station. If the list length corresponding to the access satellite list is less than a preset length, the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station is returned, and a target satellite is selected from the visible satellite list according to the second link weight, until there are no duplicate satellites in the updated list of satellites to be accessed for all optimal connection gateway stations, and the list length of the updated list of satellites to be accessed for all optimal connection gateway stations is equal to the preset length; an access satellite list for all optimal connection gateway stations is constructed based on the updated list of satellites to be accessed and the optimal access satellites, and link planning is performed for all optimal connection gateway stations based on the access satellite list.

[0082] Furthermore, the link planning device also includes an interference avoidance module, used to determine all initial links of any optimal connection gateway station based on the access satellite list, and determine the communication frequency band of each initial link; if the communication frequency bands overlap, the initial links with overlapping frequencies are included in the set of links to be detected; the interference value between any two links to be detected in the set of links to be detected is calculated, and the link pairs that need to be interfered with are determined based on the interference value; an undirected graph is constructed based on the link pairs, and the maximal cliques in the undirected graph are determined; frequency segmentation detection is performed on all target links in the maximal cliques, and the target frequency bands corresponding to all target links of the optimal connection gateway station are determined based on the detection results.

[0083] Furthermore, the interference avoidance module is also used to calculate the first throughput reduction rate and the second throughput reduction rate of all target links in the maximal cluster before frequency segmentation and after frequency segmentation; if the first throughput reduction rate is greater than the second throughput reduction rate, the detection result is determined to require frequency segmentation; if the detection result indicates that frequency segmentation is required, the available frequency bands of all target links in the maximal cluster are determined; and the available frequency bands are evenly allocated to all target links according to the available frequency bands to obtain the target frequency bands corresponding to all target links of the optimal connection gateway station.

[0084] Other embodiments or specific implementations of the link planning device of this application can be found in the above-described method embodiments, and will not be repeated here.

[0085] This application provides a link planning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the link planning method in Embodiment 1 above.

[0086] The following is for reference. Figure 6 The diagram illustrates a structural schematic of a link planning device suitable for implementing embodiments of this application. The link planning device in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6The link planning device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0087] like Figure 6 As shown, the link planning device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the link planning device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the link planning device to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows link planning devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0088] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0089] The link planning device provided in this application, employing the link planning method described in the above embodiments, can solve the technical problem of how to ensure that each constellation layer has at least one satellite-to-ground link, guaranteeing the data backhaul of the entire multi-layer constellation system. Compared with the prior art, the beneficial effects of the link planning device provided in this application are the same as those of the link planning method provided in the above embodiments, and other technical features of this link planning device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0090] It should be understood that the various parts disclosed in this application can be implemented using 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 suitable manner in one or more embodiments or examples.

[0091] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0092] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the link planning method in the above embodiments.

[0093] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. 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 conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0094] The aforementioned computer-readable storage medium may be included in the link planning device; or it may exist independently and not be assembled into the link planning device.

[0095] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the link planning device, cause the link planning device to: construct a link weight matrix based on the communication information between each constellation layer and each gateway station, wherein the multi-layer constellation system includes at least two constellation layers, and each constellation layer includes at least one satellite; construct a link matrix between each constellation layer and each gateway station, wherein each element in the link matrix represents the link connectivity relationship between each constellation layer and each gateway station; solve for the value of each element in the link matrix based on the link weight matrix, and determine the optimal gateway station for each constellation layer based on the value of each element in the link matrix.

[0096] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0097] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0098] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0099] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described link planning method. This solves the technical problem of ensuring that each constellation layer has at least one satellite-to-ground link, guaranteeing data backhaul for the entire multi-layer constellation system. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the link planning method provided in the above embodiments, and will not be elaborated upon here.

[0100] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the link planning method described above.

[0101] The computer program product provided in this application solves the technical problem of ensuring that each constellation layer has at least one satellite-to-ground link, thereby guaranteeing the data backhaul of the entire multi-layer constellation system. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the link planning method provided in the above embodiments, and will not be elaborated upon here.

[0102] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. All equivalent structural transformations made under the technical concept of this application and using the content of this application specification and drawings, or direct / indirect applications in other related technical fields, are included in the scope of protection of this application.

Claims

1. A link planning method, characterized by, The link planning method comprises the following steps: constructing a link weight matrix according to communication information between each layer constellation and each gateway station, wherein the multi-layer constellation system comprises at least two layer constellations, and each layer constellation comprises at least one satellite; constructing a link matrix between each layer constellation and each gateway station, wherein each element in the link matrix is used for representing a link connection relationship between each layer constellation and each gateway station; solving values of each element in the link matrix based on the link weight matrix, and determining optimal connection gateway stations of each layer constellation according to the values of each element in the link matrix.

2. The link planning method of claim 1, wherein, The solving of the values of each element in the link matrix based on the link weight matrix, and the determination of the optimal connection gateway stations of each layer constellation according to the values of each element in the link matrix, comprises: constructing a link planning model based on the link weight matrix and the link matrix; constructing a constraint condition of the link matrix according to a maximum link number of each gateway station; solving the values of each element in the link matrix based on the constraint condition by using a convex optimization solving mode, and determining the optimal connection gateway stations of each layer constellation according to the values of each element in the link matrix.

3. The link planning method of claim 1, wherein, After the solving of the values of each element in the link matrix based on the link weight matrix, and the determination of the optimal connection gateway stations of each layer constellation according to the values of each element in the link matrix, the method further comprises: for any optimal connection gateway station, determining a target layer constellation corresponding to the optimal connection gateway station; determining first link weights between all satellites in the target layer constellation and the optimal connection gateway station, and selecting a best access satellite of the optimal connection gateway station from the all satellites in the target layer constellation according to the first link weights; determining second link weights between each visible satellite in a visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station, and selecting a target satellite from the visible satellite list according to the second link weights, wherein a number of the target satellite is a maximum link number corresponding to the optimal connection gateway station minus 1; adding the target satellite to a to-be-accessed satellite list of the optimal connection gateway station; constructing an access satellite list of all optimal connection gateway stations according to the to-be-accessed satellite list and the best access satellite, and performing link planning on all optimal connection gateway stations according to the access satellite list.

4. The link planning method of claim 3, wherein, The constructing of the access satellite list of all optimal connection gateway stations according to the to-be-accessed satellite list and the best access satellite, and the performing of the link planning on all optimal connection gateway stations according to the access satellite list, comprises: determining a repeated satellite in the to-be-accessed satellite list of all optimal connection gateway stations, and adding the repeated satellite to a to-be-confirmed satellite list; for any to-be-confirmed satellite in the to-be-confirmed satellite list, determining an actual connection gateway station of the to-be-confirmed satellite based on a third link weight between the to-be-confirmed satellite and a corresponding optimal connection gateway station. determine all remaining connection gateway stations except the actual connection gateway station in all optimal connection gateway stations, and delete the satellite to be confirmed from the visible satellite list and the satellite to be accessed list of the remaining connection gateway stations, to obtain an updated visible satellite list and an updated satellite to be accessed list corresponding to all optimal connection gateway stations; determine the list length corresponding to the updated satellite to be accessed list of each optimal connection gateway station, and in the case that the list length is less than a preset length, return to the step of determining the second link weight between each visible satellite in the visible satellite list corresponding to the optimal connection gateway station and the optimal connection gateway station, and selecting a target satellite from the visible satellite list according to the second link weight, until there is no repeated satellite in the updated satellite to be accessed list of all optimal connection gateway stations, and the list length of the updated satellite to be accessed list of all optimal connection gateway stations is equal to the preset length; construct an access satellite list of all optimal connection gateway stations according to the updated satellite to be accessed list and the best access satellite, and perform link planning on all optimal connection gateway stations according to the access satellite list.

5. The link planning method of claim 3, wherein, After the step of constructing an access satellite list of all optimal connection gateway stations according to the satellite to be accessed list and the best access satellite, and performing link planning on all optimal connection gateway stations according to the access satellite list, the method further includes: for any optimal connection gateway station, determining all initial links of the optimal connection gateway station according to the access satellite list, and determining the communication frequency band of each initial link; if there is frequency overlap in the communication frequency band, dividing the initial link with frequency overlap into a to-be-detected link set; calculating the interference value between any two to-be-detected links in the to-be-detected link set, and determining a link pair that needs to perform interference avoidance according to the interference value; constructing an undirected graph according to the link pair, and determining a maximum clique in the undirected graph; performing frequency segmentation detection on all target links in the maximum clique, and determining the target frequency band corresponding to all target links of the optimal connection gateway station according to the detection result.

6. The link planning method of claim 5, wherein, The step of performing frequency segmentation detection on all target links in the maximum clique, and determining the target frequency band corresponding to all target links of the optimal connection gateway station according to the detection result, includes: calculating the first throughput drop rate before frequency segmentation and the second throughput drop rate after frequency segmentation of all target links in the maximum clique; if the first throughput drop rate is greater than the second throughput drop rate, determining that the detection result is that frequency segmentation is needed; in the case that the detection result is that frequency segmentation is needed, determining the available frequency band of all target links in the maximum clique; performing average allocation of frequency bands for all target links according to the available frequency band, to obtain the target frequency band corresponding to all target links of the optimal connection gateway station.

7. A link planning apparatus characterized by comprising: The link planning device includes: a link weight matrix construction module, configured to construct a link weight matrix according to communication information between each layer constellation and each gateway station, wherein the multi-layer constellation system includes at least two layer constellations, and each layer constellation includes at least one satellite; a link matrix construction module, configured to construct a link matrix between the constellations of each layer and the gateway stations, wherein each element in the link matrix is used to represent a link connection relationship between the constellations of each layer and the gateway stations; a gateway station determination module, configured to solve values of each element in the link matrix based on the link weight matrix, and determine the optimal connection gateway station of the constellations of each layer according to the values of each element in the link matrix.

8. A link planning device, characterized by The device comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the link planning method according to any one of claims 1 to 6.

9. A storage medium, characterized by The storage medium is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the link planning method according to any one of claims 1 to 6.

10. A computer program product, characterised in that, The computer program product comprises a computer program, and the computer program is executed by a processor to implement the steps of the link planning method according to any one of claims 1 to 6.

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