A communication method, device, equipment and readable storage medium for low-orbit satellite

Abstract

The present invention relates to the field of satellite communication technology, and discloses a communication method, device, equipment and readable storage medium for a low-orbit satellite. The method includes: obtaining the number of ground stations that respond to calls from low-orbit satellites; determining whether the number of ground stations is zero; when the number of ground stations is zero, obtaining a preset number of relay candidate satellites corresponding to the low-orbit satellite; determining the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites based on the communication relationship between the preset number of relay candidate satellites and the ground station; and establishing communication between the low-orbit satellite and the ground station through the relay satellite. By implementing the present invention, a direct or indirect communication link is quickly established between the low-orbit satellite and the ground station, which facilitates the dynamic maintenance of the data transmission link of the low-orbit satellite and ensures the routing efficiency between the low-orbit satellite and the ground station.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to a communication method, device, equipment and readable storage medium for a low-orbit satellite. Background Art

[0002] According to the different orbits of communication satellites, satellite communication systems can be divided into low-orbit satellite communication, medium-orbit satellite communication and high-orbit synchronous satellite communication. The orbital altitude of low-orbit satellites is 500km~2000km, the orbital altitude of medium-orbit satellites is 2000km~36000km, and the orbital altitude of high-orbit synchronous satellites is 36000km. The low-orbit satellite communication system consists of low-orbit satellites and master control stations, gateway earth stations, mobile earth stations (vehicle-mounted stations, ship-mounted stations, aircraft-mounted stations, etc.), handheld devices and radio positioning terminals. Low-orbit satellites rotate around the earth on several orbital planes with equal distances in longitude. As mobile communication relay stations, they form wireless cellular coverage on the ground, covering the entire surface of the earth, and can provide services such as telephone, fax, data, paging and radio positioning.

[0003] Low-orbit satellites are about 1,000 km above the ground, and have relatively small space transmission losses. Since the coverage area formed by low-orbit satellites moves very quickly on the surface of the earth, the height of satellites operating in low orbits from the ground changes, and their positional relationship with the ground station also maintains relatively rapid dynamic changes, resulting in changes in the communication links and routes between low-orbit satellites and ground stations. How to quickly and dynamically maintain the data transmission links and routing efficiency of low-orbit satellites has become an urgent problem to be solved. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a communication method, apparatus, device and readable storage medium for a low-orbit satellite to solve the problem that the data transmission link and routing efficiency of the low-orbit satellite are difficult to dynamically maintain.

[0005] According to the first aspect, an embodiment of the present invention provides a communication method for a low-orbit satellite, including: obtaining the number of ground stations that respond to a call from a low-orbit satellite; determining whether the number of the ground stations is zero; when the number of the ground stations is zero, obtaining a preset number of relay candidate satellites corresponding to the low-orbit satellite; based on the communication relationship between the preset number of relay candidate satellites and the ground station, determining the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites; and establishing communication between the low-orbit satellite and the ground station through the relay satellite.

[0006] The communication method of the low-orbit satellite provided by the embodiment of the present invention obtains the number of ground stations that respond to the call of the low-orbit satellite. If the number of ground stations that respond to the call is not zero, it indicates that there are ground stations that can communicate directly with it. If the number of ground stations that respond to the call is zero, it indicates that there are no ground stations that can communicate directly with it. The low-orbit satellite can only use other satellites as relay satellites to establish indirect communication with the ground station. At this time, the low-orbit satellite obtains a preset number of relay candidate satellites, and determines the relay satellite according to the communication relationship between each relay candidate satellite and the ground station, thereby realizing the rapid establishment of a direct or indirect communication link between the low-orbit satellite and the ground station, facilitating the dynamic maintenance of the data transmission link of the low-orbit satellite, and ensuring the routing efficiency between the low-orbit satellite and the ground station.

[0007] In combination with the first aspect, in a first implementation of the first aspect, the method also includes: when the number of the ground stations is greater than 1, respectively calculating the connection parameters between each ground station and the low-orbit satellite; comparing each of the connection parameters to determine the minimum connection parameter; determining the ground station corresponding to the minimum connection parameter as the target ground station corresponding to the low-orbit satellite, and the target ground station communicates directly with the low-orbit satellite.

[0008] In combination with the first implementation manner of the first aspect, in the second implementation manner of the first aspect, the respectively calculating the connection parameters between each ground station and the low-orbit satellite includes: obtaining the spatial distance, transmission delay and signal strength between each ground station and the low-orbit satellite; calculating the product of the spatial distance and the transmission delay, and determining the ratio of the product to the signal strength as the connection parameter.

[0009] The communication method for low-orbit satellites provided by an embodiment of the present invention, when the number of ground stations is greater than 1, comprehensively utilizes spatial distance, transmission delay and signal strength to calculate the connection parameters between each ground station and the low-orbit satellite, and determines the minimum connection parameter therefrom, and determines the ground station corresponding to the minimum connection parameter as the target ground station corresponding to the low-orbit satellite, that is, the ground station that can communicate directly with the low-orbit satellite. By comprehensively utilizing spatial distance, transmission delay and signal strength, the target ground station with the shortest communication path and the highest routing efficiency can be determined more accurately and reasonably, so that the target ground station can be used as a group manager to perform group management of low-orbit satellites.

[0010] In combination with the first implementation of the first aspect, in the third implementation of the first aspect, the method also includes: when the number of the ground stations is 1, directly determining the ground station as the target ground station corresponding to the low-orbit satellite.

[0011] The communication method for a low-orbit satellite provided by an embodiment of the present invention directly uses one ground station as the target ground station when the number of the ground stations is 1, thereby being able to directly and quickly establish a communication link between the low-orbit satellite and the ground station.

[0012] In combination with the first aspect, in a fourth implementation of the first aspect, obtaining a preset number of relay candidate satellites corresponding to the low-orbit satellite includes: detecting multiple co-orbit satellites that are in the same orbit as the low-orbit satellite; based on the spatial distance between each of the co-orbit satellites and the low-orbit satellite, determining a preset number of relay candidate satellites that are closest in spatial distance to the low-orbit satellite from the multiple co-orbit satellites.

[0013] The communication method for a low-orbit satellite provided in an embodiment of the present invention detects multiple co-orbit satellites in the same orbit as the low-orbit satellite, and determines a preset number of relay candidate satellites therefrom according to the spatial distance between each co-orbit satellite and the low-orbit satellite, thereby facilitating the determination of a more accurate and reasonable relay satellite therefrom to ensure the best communication link.

[0014] In combination with the fourth implementation manner of the first aspect, in the fifth implementation manner of the first aspect, the communication relationship between the preset number of relay candidate satellites and the ground station is based on determining the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites, including: detecting the number of target candidate satellites that directly communicate with the ground station among the preset number of relay candidate satellites; when the number of target candidate satellites is greater than 1, obtaining the spatial distance between each of the target candidate satellites and the low-orbit satellite; determining the minimum spatial distance from each of the spatial distances, and determining the target candidate satellite corresponding to the minimum spatial distance as the relay satellite.

[0015] The communication method for low-orbit satellites provided in an embodiment of the present invention detects the number of target candidate satellites. When the number is greater than 1, the spatial distance between each target candidate satellite and the low-orbit satellite is obtained, and the target candidate satellite with the smallest spatial distance is determined as a relay satellite, thereby ensuring the shortest communication path and the highest routing efficiency.

[0016] In combination with the fifth implementation of the first aspect, in the sixth implementation of the first aspect, the method further includes: when the number of the target candidate satellite is 1, directly determining the target candidate satellite as the relay satellite.

[0017] The communication method for a low-orbit satellite provided by an embodiment of the present invention directly determines the target candidate satellite as a relay satellite when the number of target candidate satellites is 1, thereby enabling a communication link between the low-orbit satellite and the ground station to be quickly established through the relay satellite.

[0018] In combination with the fifth implementation of the first aspect, in the seventh implementation of the first aspect, the method also includes: when the number of target candidate satellites is zero, determining a preset number of relay candidate satellites that are next closest in spatial distance to the low-orbit satellite from the multiple co-orbit satellites; and executing the step of detecting the number of target candidate satellites that communicate directly with the ground station among the preset number of relay candidate satellites.

[0019] In combination with the seventh implementation manner of the first aspect, in the eighth implementation manner of the first aspect, the method further includes: if the number of target candidate satellites is still zero, determining that the low-orbit satellite is currently unable to establish a communication link with the ground station.

[0020] In the communication method for a low-orbit satellite provided by an embodiment of the present invention, if the number of target candidate satellites is zero, a preset number of relay candidate satellites with the next closest spatial distance to the low-orbit satellite can be further determined from multiple co-orbit satellites to confirm the relay satellites. If the number of target candidate satellites is still zero, it means that the low-orbit satellite is currently unable to establish a communication connection with the ground station and needs to wait for its position to change before attempting a communication connection, thereby reducing the number of iterations, improving the adaptability of the low-orbit satellite to the fast-changing communication environment, and improving the dynamic maintenance effect of the communication link and routing.

[0021] In combination with the fourth implementation of the first aspect, in a ninth implementation of the first aspect, the method further includes: when the number of the co-orbit satellites is less than the preset number, using all the co-orbit satellites as the relay candidate satellites.

[0022] The communication method for low-orbit satellites provided by an embodiment of the present invention uses all co-orbit satellites as candidate relay satellites when the number of co-orbit satellites is less than a preset number, so as to facilitate the subsequent determination of more accurate relay satellites.

[0023] According to a second aspect, an embodiment of the present invention provides a communication device for a low-orbit satellite, comprising: a first acquisition module, used to acquire the number of ground stations that respond to a call from a low-orbit satellite; a judgment module, used to judge whether the number of the ground stations is zero; a second acquisition module, used to acquire a preset number of relay candidate satellites corresponding to the low-orbit satellite when the number of the ground stations is zero; a determination module, used to determine the relay satellite corresponding to the low-orbit satellite from a preset number of relay candidate satellites based on the communication relationship between the preset number of relay candidate satellites and the ground station; and a communication module, used to establish communication between the low-orbit satellite and the ground station through the relay satellite.

[0024] The communication device for a low-orbit satellite provided in an embodiment of the present invention obtains the number of ground stations that respond to the call of the low-orbit satellite. If the number of ground stations that respond to the call is not zero, it indicates that there are ground stations that communicate directly with it. If the number of ground stations that respond to the call is zero, it indicates that there are no ground stations that can communicate directly with it. The low-orbit satellite can only use other satellites as relay satellites to establish indirect communication with the ground station. At this time, the low-orbit satellite obtains a preset number of relay candidate satellites, and determines the relay satellite according to the communication relationship between each relay candidate satellite and the ground station, thereby realizing the rapid establishment of a direct or indirect communication link between the low-orbit satellite and the ground station, facilitating the dynamic maintenance of the data transmission link of the low-orbit satellite, and ensuring the routing efficiency between the low-orbit satellite and the ground station.

[0025] According to the third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the communication method for a low-orbit satellite described in the first aspect or any embodiment of the first aspect by executing the computer instructions.

[0026] According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the communication method for a low-orbit satellite as described in the first aspect or any implementation scheme of the first aspect.

[0027] It should be noted that, for the corresponding beneficial effects of the low-orbit satellite communication device, electronic device and computer-readable storage medium provided in the embodiments of the present invention, please refer to the description of the corresponding contents in the low-orbit satellite communication method, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of a recursive satellite and a ground station in an embodiment of the present invention is shown;

[0030] Figure 2 is a flow chart of a communication method for a low-orbit satellite according to an embodiment of the present invention;

[0031] Figure 3 is another flow chart of a communication method for a low-orbit satellite according to an embodiment of the present invention;

[0032] Figure 4 is another flow chart of a communication method for a low-orbit satellite according to an embodiment of the present invention;

[0033] Figure 5 is a structural block diagram of a communication device for a low-orbit satellite according to an embodiment of the present invention;

[0034] Figure 6 It is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0036] According to an embodiment of the present invention, an embodiment of a communication method for a low-orbit satellite is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] In this embodiment, a communication method for a low-orbit satellite is provided, which can be used for electronic equipment of a low-orbit satellite, such as a controller arranged in a low-orbit satellite master control station. Figure 2 is a flow chart of a communication method for a low-orbit satellite according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0038] S11, obtaining the number of ground stations responding to the low-orbit satellite call.

[0039] There are several low-orbit satellites in the sky. These satellites need to communicate with ground stations on the earth's surface, and each ground station covers a different range of space, such as Figure 1 As shown. As the low-orbit satellite moves, the communication link between it and the ground station will also change. When it establishes a communication link with the ground station, it sends a call signal to all ground stations on the surface of the earth, and the call signal carries a communication connection request. Correspondingly, the ground station will respond to the call signal it receives and send the response signal to the low-orbit satellite. At this time, the low-orbit satellite can count the ground stations that respond to its call to determine the number of ground stations that respond to its call.

[0040] like Figure 1As shown, the first ground station covers low-orbit satellites S1 to S5, and the second ground station covers low-orbit satellites S4 to S9. For low-orbit satellites S1 to S3, the only ground station that responds to their calls is the first ground station (i.e., 1 ground station). For low-orbit satellites S6 to S9, the only ground station that responds to their calls is the second ground station (i.e., 1 ground station). For low-orbit satellites S4 and S5, the ground stations that respond to their calls are the first ground station and the second ground station (i.e., two ground stations). For S10 to S12, there is no ground station that responds to their calls (i.e., 0 ground stations).

[0041] S12, determining whether the number of ground stations is zero.

[0042] The master control station in the low-orbit satellite can determine whether the number of ground stations responding to its call is 0 according to whether it receives a response signal. When the number of ground stations responding to its call is 0, step S13 is executed, otherwise a ground station capable of direct communication is determined from the ground stations responding to its call.

[0043] S13, obtaining a preset number of relay candidate satellites corresponding to the low-orbit satellites.

[0044] Relay candidate satellites are other co-orbit satellites that may serve as relay satellites for low-orbit satellites. When the number of ground stations that respond to the call of a low-orbit satellite is zero, it means that the low-orbit satellite cannot establish a communication connection directly with the ground station, and it can use other satellites as relays to achieve indirect communication with the ground station. At this time, the low-orbit satellite can determine a preset number of satellites that are close to it in space from the co-orbit satellites as relay candidate satellites. The preset number can be 4, 6, 8, or other values, which are not specifically limited here and can be determined by technicians in this field according to actual needs.

[0045] S14, based on the communication relationship between the preset number of relay candidate satellites and the ground station, determining a relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites.

[0046] The condition for being a relay satellite is that the satellite can communicate directly with the ground station. After receiving the response signal from the candidate relay satellite, the master control station of the low-orbit satellite can select one or more satellites that can communicate directly with the ground station, and further determine the relay satellite based on parameters such as spatial distance.

[0047] S15, establish communication between low-orbit satellites and ground stations through relay satellites.

[0048] After determining the relay satellite, the low-orbit satellite can use the relay satellite as a relay station between itself and the ground station, thereby establishing a communication link of "low-orbit satellite-relay satellite-ground station", that is, the low-orbit satellite realizes indirect communication with the ground station through the relay satellite.

[0049] The communication method of the low-orbit satellite provided in this embodiment obtains the number of ground stations that respond to the call of the low-orbit satellite. If the number of ground stations that respond to the call is not zero, it indicates that there are ground stations that can communicate directly with it. If the number of ground stations that respond to the call is zero, it indicates that there are no ground stations that can communicate directly with it. The low-orbit satellite can only use other satellites as relay satellites to establish indirect communication with the ground station. At this time, the low-orbit satellite obtains a preset number of relay candidate satellites, and determines the relay satellite according to the communication relationship between each relay candidate satellite and the ground station, thereby realizing the rapid establishment of a direct or indirect communication link between the low-orbit satellite and the ground station, facilitating the dynamic maintenance of the data transmission link of the low-orbit satellite, and ensuring the routing efficiency between the low-orbit satellite and the ground station.

[0050] In this embodiment, a communication method for a low-orbit satellite is provided, which can be used for electronic equipment of a low-orbit satellite, such as a controller arranged in a low-orbit satellite master control station. Figure 3 is a flow chart of a communication method for a low-orbit satellite according to an embodiment of the present invention. Figure 3 As shown, the process includes the following steps:

[0051] S21, obtaining the number of ground stations that respond to the low-orbit satellite call. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0052] S22, determining whether the number of ground stations is zero. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0053] S23, when the number of ground stations is zero, a preset number of relay candidate satellites corresponding to low-orbit satellites are obtained. Detailed descriptions refer to the relevant descriptions of the above embodiments, which will not be repeated here.

[0054] S24, based on the communication relationship between the preset number of relay candidate satellites and the ground station, determine the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites. Detailed descriptions refer to the corresponding descriptions of the above embodiments, which will not be repeated here.

[0055] S25, establishing communication between the low-orbit satellite and the ground station through the relay satellite. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0056] S26, when the number of ground stations is greater than 1, respectively calculating connection parameters between each ground station and the low-orbit satellite.

[0057] When the number of ground stations responding to the call of the low-orbit satellite is greater than 1, the low-orbit satellite needs to determine the target ground station from multiple ground stations for communication. Specifically, the connection parameters between each ground station and the low-orbit satellite can be calculated. The connection parameters are used to characterize the communication path and routing efficiency between the ground station and the low-orbit satellite. The smaller the connection parameter, the shorter the communication path and the higher the routing efficiency.

[0058] Specifically, the above step S26 may include:

[0059] (1) Obtain the spatial distance, transmission delay, and signal strength between each ground station and the low-orbit satellite.

[0060] Low-orbit satellites can determine the spatial distance between themselves and each ground station based on the distribution of each ground station, and can determine the transmission delay between themselves and the ground station based on the signal sending time and receiving time, and can determine the signal strength based on the signal reception status.

[0061] (2) Calculate the product of spatial distance and transmission delay, and determine the ratio of the product to signal strength as the connection parameter.

[0062] The master control station of the low-orbit satellite can calculate the connection parameters according to the spatial distance, transmission delay and signal strength. Specifically, the calculation formula of the connection parameters can be:

[0063]

[0064] Among them, d is the spatial distance; t is the transmission delay; s is the signal strength; and c is the connection parameter.

[0065] like Figure 1 As shown in the figure, for low-orbit satellites S4 and S5, the ground stations that respond to their calls are the first ground station NCC1 and the second ground station NCC2, that is, S4 and S5 can contact two ground stations at the same time. If their parameters to the ground station (spatial distance, transmission delay and signal strength) are as shown in the following table:

[0066]

[0067] According to the calculation formula of connection parameters, the connection parameters of S4 and S5 can be calculated as follows:

[0068]

[0069] S27, comparing various connection parameters and determining the minimum connection parameter.

[0070] The low-orbit satellite compares the calculated connection parameters and determines the minimum connection parameter. For the low-orbit satellite S4, the connection parameter c=1318 between it and NCC1 is the minimum connection parameter; for the low-orbit satellite S5, the connection parameter c=1512 between it and NCC2 is the minimum connection parameter.

[0071] S28, determining the ground station corresponding to the minimum connection parameter as the target ground station corresponding to the low-orbit satellite, and the target ground station directly communicates with the low-orbit satellite.

[0072] After the minimum connection parameter is determined, the ground station corresponding to the minimum connection parameter is directly determined as the current target ground station for direct communication. Figure 1 The connection parameters between S4 and NCC1 shown are minimum connection parameters. At this time, the target ground station corresponding to S4 is NCC1, that is, S4 becomes a member of group 1 with NCC1 as the group administrator. Similarly, if the target ground station corresponding to S5 is NCC2, S5 will become a member of group 2 with NCC2 as the group administrator.

[0073] S29, when the number of ground stations is 1, the ground station is directly determined as the target ground station corresponding to the low-orbit satellite.

[0074] When the number of ground stations responding to the low-orbit satellite call is 1, it means that there is only one ground station that can communicate directly with the low-orbit satellite. Figure 1 For example, for low-orbit satellites S1~S3, the ground station that responds to their calls is the first ground station NCC1, that is, the first ground station NCC1 is the target ground station corresponding to the low-orbit satellites S1~S3; for low-orbit satellites S6~S9, the ground station that responds to their calls is the second ground station NCC2, that is, the second ground station NCC2 is the target ground station corresponding to the low-orbit satellites S6~S9.

[0075] Here, the first ground station NCC1 and S1~S3 can be regarded as a group, which can be called Group 1. The first ground station NCC1 serves as the group administrator, and the group members include S1~S3; the second ground stations NCC2 and S6~S9 can be regarded as a group, which can be called Group 2. The second ground station NCC2 serves as the group administrator, and the group members include S6~S9, thereby realizing the cluster management of low-orbit satellites.

[0076] The communication method for low-orbit satellites provided in this embodiment establishes different communication links by responding to the number of ground stations called by the low-orbit satellites, thereby enabling each low-orbit satellite to quickly establish a direct or indirect communication connection with the ground station to achieve the shortest communication path and the highest routing efficiency, thereby facilitating the dynamic maintenance of the data transmission links and routing efficiency of the low-orbit satellites.

[0077] In this embodiment, a communication method for a low-orbit satellite is provided, which can be used for electronic equipment of a low-orbit satellite, such as a controller arranged in a low-orbit satellite master control station. Figure 4 is a flow chart of a communication method for a low-orbit satellite according to an embodiment of the present invention. Figure 4 As shown, the process includes the following steps:

[0078] S31, obtaining the number of ground stations that respond to the low-orbit satellite call. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0079] S32, determining whether the number of ground stations is zero. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0080] S33, when the number of ground stations is zero, obtaining a preset number of relay candidate satellites corresponding to low-orbit satellites.

[0081] Specifically, the above step S33 may include:

[0082] S331, detecting multiple co-orbit satellites that are in the same orbit as the low-orbit satellite.

[0083] When the number of ground stations responding to the call of the low-orbit satellite is zero, the low-orbit satellite can detect its current orbit and detect other satellites in its current orbit to obtain multiple co-orbit satellites in the same orbit.

[0084] S332: Based on the spatial distances between each co-orbit satellite and the low-orbit satellite, determine a preset number of candidate relay satellites that are closest in spatial distance to the low-orbit satellite from the multiple co-orbit satellites.

[0085] A low-orbit satellite can detect the position of each co-orbit satellite in its orbit to determine the spatial distance between itself and each co-orbit satellite, and compare the spatial distances to determine a preset number of co-orbit satellites closest to itself, that is, to determine the multiple co-orbit satellites with the closest spatial distances as the relay candidate satellites corresponding to the current low-orbit satellite.

[0086] like Figure 1 As shown in the figure, S10, S11 and S12 cannot communicate directly with the ground station, that is, the number of ground stations that respond to their calls is 0. At this time, a clustering strategy is adopted to select relay satellites to achieve indirect communication between low-orbit satellites and ground stations. Taking S10 as an example, the six satellites in the same orbit closest to it are S6, S7, S8, S9, S11 and S12, so S6, S7, S8, S9, S11 and S12 are selected as candidate relay satellites corresponding to S10.

[0087] Optionally, if the number of satellites on the same orbit is less than a preset number, all satellites on the same orbit are used as candidate relay satellites.

[0088] The low-orbit satellite can detect the number of satellites on the same orbit as it, and compare the number of satellites on the same orbit with the preset number to determine whether the number of satellites on the same orbit is less than the preset number. If the number of satellites on the same orbit is less than the preset number, in order to facilitate the subsequent determination of more accurate relay satellites, all satellites on the same orbit are used as relay candidate satellites.

[0089] S34, based on the communication relationship between the preset number of relay candidate satellites and the ground station, determine the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites.

[0090] Specifically, the above step S34 may include:

[0091] S341, detecting the number of target candidate satellites that directly communicate with the ground station among a preset number of relay candidate satellites.

[0092] The low-orbit satellite can call the multiple co-orbit satellites at one time to detect whether there are target candidate satellites among the multiple co-orbit satellites that can communicate directly with the ground station. If so, the number of target candidate satellites is further obtained. Based on the different numbers of target candidate satellites, steps S342 to S344 are executed. If not, steps S345 to S346 are executed.

[0093] S342: When the number of target candidate satellites is greater than 1, obtain the spatial distance between each target candidate satellite and the low-orbit satellite.

[0094] When the number of target candidate satellites is 1, it means that there are multiple target candidate satellites that can communicate directly with the ground station among the preset number of relay candidate satellites. At this time, the low-orbit satellite needs to determine the relay satellite for realizing the relay function. Specifically, in order to ensure the shortest communication path, the low-orbit satellite can obtain the spatial distances between the multiple target candidate satellites and itself.

[0095] S343, determining a minimum spatial distance from various spatial distances, and determining a target candidate satellite corresponding to the minimum spatial distance as a relay satellite.

[0096] The low-orbit satellite compares the spatial distances between each candidate target satellite and itself, and determines the minimum spatial distance, that is, determines the candidate target satellite with the shortest spatial distance, and then determines the candidate target satellite as a relay satellite.

[0097] like Figure 1As shown, for the low-orbit satellite S10, the six satellites in the same orbit closest to it are S6, S7, S8, S9, S11 and S12. The low-orbit satellite S10 calls these six satellites in the same orbit at one time to check whether they have direct communication with the ground station (that is, to check whether they are members of a certain group). By checking, the low-orbit satellite S10 can determine that S6, S7, S8, and S9 can communicate directly with the ground station NCC2 (that is, group members with NCC2 as the group administrator), while S11 and S12 cannot communicate directly with the ground station. At this time, the low-orbit satellite S10 will select the satellite S9 with the closest spatial distance to itself from S6, S7, S8 and S9 as a relay satellite. At this time, satellite S9 can serve as a cluster administrator, and the cluster can be called cluster 2-9. The low-orbit satellite S10 becomes a member of cluster 2-9, and it can establish an indirect communication link with the ground station NCC2 through satellite S9 as a relay satellite.

[0098] For low-orbit satellites S11 and S12, their situations are similar to those of low-orbit satellite S10 and will not be repeated here. Eventually, low-orbit satellites S10, S11, and S12 all become members of cluster 2-9, and establish an indirect communication link with ground station NCC2 through satellite S9 as a relay satellite. The communication path of this communication link is the shortest and the delay is the smallest, thus achieving optimal routing.

[0099] S344: When the number of target candidate satellites is 1, directly determine the target candidate satellite as a relay satellite.

[0100] When the number of target candidate satellites is 1, it means that there is one target candidate satellite among the preset number of relay candidate satellites that can communicate directly with the ground station, that is, the target candidate satellite is a group member whose ground station is the group administrator. At this time, the target candidate satellite can be directly determined as a relay satellite.

[0101] S345, when the number of target candidate satellites is zero, determining a preset number of relay candidate satellites whose spatial distances to the low-orbit satellites are next closest from the multiple co-orbit satellites.

[0102] When the number of target candidate satellites is zero, it means that there are no target candidate satellites among the preset number of relay candidate satellites that can communicate directly with the ground station. At this time, the low-orbit satellite can continue to select a preset number of satellites with the next closest spatial distance from the remaining co-orbit satellites as relay candidate satellites.

[0103] S346, executing the step of detecting the number of target candidate satellites that directly communicate with the ground station among the preset number of relay candidate satellites.

[0104] After selecting a preset number of satellites with the next closest spatial distance as relay candidate satellites, continue to detect whether there are target candidate satellites that communicate directly with the ground station, and determine the relay satellite according to the number of target candidate satellites. For detailed description, refer to the above S341 to S344.

[0105] S347: If the number of target candidate satellites is still zero, it is determined that the low-orbit satellite is currently unable to establish a communication link with the ground station.

[0106] If a co-orbital satellite that can serve as a target candidate satellite is still detected among the preset number of relay candidate satellites with the next closest spatial distance, it means that the low-orbit satellite is currently unable to establish a communication link with the ground station. It can wait for its position to change and try to communicate with the ground station again.

[0107] If the number of target candidate satellites is still zero, it means that the low-orbit satellite cannot currently establish a communication connection with the ground station and needs to wait for its position to change before attempting a communication connection. This reduces the number of iterations, improves the adaptability of the low-orbit satellite to the rapidly changing communication environment, and improves the dynamic maintenance of communication links and routes.

[0108] S35, establishing communication between the low-orbit satellite and the ground station through the relay satellite. For detailed description, please refer to the relevant description of the above embodiment, which will not be repeated here.

[0109] The communication method for a low-orbit satellite provided in this embodiment detects multiple co-orbit satellites in the same orbit as the low-orbit satellite, and determines a preset number of relay candidate satellites according to the spatial distance between each co-orbit satellite and the low-orbit satellite, so as to facilitate determining a more accurate and reasonable relay satellite to ensure the best communication link. By detecting the number of target candidate satellites, different determination strategies are adopted according to the different numbers to determine a reasonable relay satellite, so as to ensure the shortest communication path and the highest routing efficiency.

[0110] In this embodiment, a communication device for a low-orbit satellite is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0111] This embodiment provides a communication device for a low-orbit satellite, such as Figure 5 As shown, including:

[0112] The first acquisition module 41 is used to acquire the number of ground stations that respond to the low-orbit satellite call. For detailed description, please refer to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0113] The judging module 42 is used to judge whether the number of ground stations is zero. For detailed description, please refer to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0114] The second acquisition module 43 is used to acquire a preset number of relay candidate satellites corresponding to low-orbit satellites when the number of ground stations is zero. Detailed descriptions refer to the relevant descriptions of the corresponding steps in the above method embodiment, which will not be repeated here.

[0115] The determination module 44 is used to determine the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites based on the communication relationship between the preset number of relay candidate satellites and the ground station. For detailed description, please refer to the relevant description of the corresponding steps of the above method embodiment, which will not be repeated here.

[0116] The communication module 45 is used to establish communication between the low-orbit satellite and the ground station through the relay satellite. For detailed description, please refer to the relevant description of the corresponding steps in the above method embodiment, which will not be repeated here.

[0117] The communication device of the low-orbit satellite provided in this embodiment obtains the number of ground stations that respond to the call of the low-orbit satellite. If the number of ground stations that respond to the call is not zero, it indicates that there are ground stations that can communicate directly with it. If the number of ground stations that respond to the call is zero, it indicates that there are no ground stations that can communicate directly with it. The low-orbit satellite can only use other satellites as relay satellites to establish indirect communication with the ground station. At this time, the low-orbit satellite obtains a preset number of relay candidate satellites, and determines the relay satellite according to the communication relationship between each relay candidate satellite and the ground station, thereby realizing the rapid establishment of a direct or indirect communication link between the low-orbit satellite and the ground station, facilitating the dynamic maintenance of the data transmission link of the low-orbit satellite, and ensuring the routing efficiency between the low-orbit satellite and the ground station.

[0118] The communication device of the low-orbit satellite in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0119] The further functional description of each of the above modules is the same as that of the above corresponding embodiments and will not be repeated here.

[0120] The embodiment of the present invention also provides an electronic device having the above Figure 5 The communication device of the low-orbit satellite is shown.

[0121] See also Figure 6 , Figure 6 is a schematic diagram of the structure of an electronic device provided by an optional embodiment of the present invention, such as Figure 6As shown, the electronic device may include: at least one processor 501, such as a CPU (Central Processing Unit), at least one communication interface 503, a memory 504, and at least one communication bus 502. The communication bus 502 is used to realize the connection and communication between these components. The communication interface 503 may include a display screen (Display), a keyboard (Keyboard), and the optional communication interface 503 may also include a standard wired interface and a wireless interface. The memory 504 may be a high-speed RAM memory (Random Access Memory) or a non-volatile memory (non-volatile memory), such as at least one disk storage. The memory 504 may optionally be at least one storage device located away from the aforementioned processor 501. The processor 501 may be combined with Figure 5 In the described device, the memory 504 stores an application program, and the processor 501 calls the program code stored in the memory 504 to execute any of the above method steps.

[0122] The communication bus 502 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The communication bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0123] Among them, the memory 504 may include a volatile memory (English: volatile memory), such as a random access memory (English: random-access memory, abbreviated: RAM); the memory may also include a non-volatile memory (English: non-volatile memory), such as a flash memory (English: flash memory), a hard disk drive (English: hard disk drive, abbreviated: HDD) or a solid-state drive (English: solid-state drive, abbreviated: SSD); the memory 504 may also include a combination of the above types of memory.

[0124] The processor 501 may be a central processing unit (CPU), a network processor (NP), or a combination of a CPU and a NP.

[0125] The processor 501 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0126] Optionally, the memory 504 is also used to store program instructions. The processor 501 can call the program instructions to implement the present application Figures 2 to 4 The communication method of the low-orbit satellite shown in the embodiment.

[0127] The embodiment of the present invention also provides a non-transitory computer storage medium, which stores computer executable instructions, and the computer executable instructions can execute the processing method of the communication method of the low-orbit satellite in any of the above method embodiments. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memory.

[0128] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A communication method for a low-orbit satellite, characterized in that: include: Get the number of ground stations that responded to LEO satellite calls; Determining whether the number of the ground stations is zero; When the number of the ground stations is zero, obtaining a preset number of relay candidate satellites corresponding to the low-orbit satellites; The obtaining of a preset number of relay candidate satellites corresponding to the low-orbit satellites comprises: Detecting a plurality of co-orbit satellites that are in the same orbit as the low-orbit satellite; Based on the spatial distance between each of the co-orbit satellites and the low-orbit satellite, determining a preset number of candidate relay satellites that are closest in spatial distance to the low-orbit satellite from the multiple co-orbit satellites; Based on the communication relationship between the preset number of relay candidate satellites and the ground station, determining the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites; based on the communication relationship between the preset number of relay candidate satellites and the ground station, determining the relay satellite corresponding to the low-orbit satellite from the preset number of relay candidate satellites, comprises: Detecting the number of target candidate satellites that directly communicate with the ground station among the preset number of relay candidate satellites; When the number of the target candidate satellites is greater than 1, obtaining the spatial distance between each of the target candidate satellites and the low-orbit satellite; Determine a minimum spatial distance from each of the spatial distances, and determine the target candidate satellite corresponding to the minimum spatial distance as the relay satellite; Communication between the low-orbit satellite and the ground station is established through the relay satellite.

2. The method according to claim 1, characterized in that Also includes: When the number of the ground stations is greater than 1, respectively calculating connection parameters between each ground station and the low-orbit satellite; Comparing the connection parameters to determine the minimum connection parameter; The ground station corresponding to the minimum connection parameter is determined as the target ground station corresponding to the low-orbit satellite, and the target ground station directly communicates with the low-orbit satellite.

3. The method according to claim 2, characterized in that The respectively calculating the connection parameters between each ground station and the low-orbit satellite comprises: Obtaining the spatial distance, transmission delay and signal strength between each ground station and the low-orbit satellite; The product of the spatial distance and the transmission delay is calculated, and a ratio of the product to the signal strength is determined as the connection parameter.

4. The method according to claim 2, characterized in that: Also includes: When the number of the ground station is 1, the ground station is directly determined as the target ground station corresponding to the low-orbit satellite.

5. The method according to claim 1, characterized in that Also includes: When the number of the target candidate satellite is 1, the target candidate satellite is directly determined as the relay satellite.

6. The method according to claim 1, characterized in that Also includes: When the number of the target candidate satellites is zero, determining a preset number of relay candidate satellites having the next closest spatial distance to the low-orbit satellite from the multiple co-orbit satellites; The step of detecting the number of target candidate satellites that directly communicate with the ground station among the preset number of relay candidate satellites is performed.

7. The method according to claim 6, characterized in that Also includes: If the number of the target candidate satellites is still zero, it is determined that the low-orbit satellite is currently unable to establish a communication link with the ground station.

8. The method according to claim 1, characterized in that Also includes: When the number of the co-orbit satellites is less than the preset number, all the co-orbit satellites are used as the relay candidate satellites.

9. A communication device for a low-orbit satellite, characterized in that: include: A first acquisition module is used to acquire the number of ground stations that respond to the low-orbit satellite call; A judging module, used for judging whether the number of the ground stations is zero; A second acquisition module, configured to acquire a preset number of relay candidate satellites corresponding to the low-orbit satellites when the number of the ground stations is zero; The obtaining of a preset number of relay candidate satellites corresponding to the low-orbit satellites comprises: Detecting a plurality of co-orbit satellites that are in the same orbit as the low-orbit satellite; Based on the spatial distance between each of the co-orbit satellites and the low-orbit satellite, determining a preset number of candidate relay satellites that are closest in spatial distance to the low-orbit satellite from the multiple co-orbit satellites; A determination module, configured to determine a relay satellite corresponding to the low-orbit satellite from a preset number of relay candidate satellites based on a communication relationship between the preset number of relay candidate satellites and the ground station; the determining a relay satellite corresponding to the low-orbit satellite from a preset number of relay candidate satellites based on a communication relationship between the preset number of relay candidate satellites and the ground station comprises: Detecting the number of target candidate satellites that directly communicate with the ground station among the preset number of relay candidate satellites; When the number of the target candidate satellites is greater than 1, obtaining the spatial distance between each of the target candidate satellites and the low-orbit satellite; Determine a minimum spatial distance from each of the spatial distances, and determine the target candidate satellite corresponding to the minimum spatial distance as the relay satellite; A communication module is used to establish communication between the low-orbit satellite and the ground station through the relay satellite.

10. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the communication method for a low-orbit satellite according to any one of claims 1 to 8 by executing the computer instructions.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the communication method for a low-orbit satellite according to any one of claims 1-8.

Images