A beam scheduling method, device and electronic equipment

Abstract

The present application provides a method, device and electronic device for satellite beam scheduling, the method comprising: obtaining a preset relationship table, the preset relationship table storing the corresponding relationship between the beam angle and the satellite heavy coverage area grid; obtaining the beam scheduling strategy corresponding to the preset relationship table, and determining the beam angle of at least one heavy coverage satellite according to the beam scheduling strategy and the preset relationship table; sending a beam scheduling instruction including the beam angle to at least one heavy coverage satellite, the beam scheduling instruction is used to instruct the heavy coverage satellite to transmit a beam according to the beam angle. When faced with the problem of frequent beam scheduling due to the fast movement of low-orbit satellites, the present application does not need to calculate the beam angle in real time, but directly reads the corresponding beam angle from the preset relationship table according to the beam scheduling strategy, which reduces the consumption of computing resources in the beam scheduling process and improves the efficiency of beam scheduling.

Description

[Technical field]

[0001] The present invention relates to the field of low-orbit satellite communications, and in particular to a beam scheduling method, device, electronic device and computer-readable storage medium. [Background technology]

[0002] Beam scheduling refers to dynamically configuring communication resources for user terminals by controlling the spatial pointing, bandwidth, frequency and transmission power of the onboard multi-beam antenna, thereby improving the efficiency of satellite resources in terms of bandwidth and power. Traditional beam scheduling methods are mainly used in high-orbit satellite systems. Compared with high-orbit satellites, low-orbit satellites have the characteristics of dynamically changing communication resources and business needs. However, beam scheduling requires the radio frequency to complete a series of related calculations such as determining the beam pointing in a very short time, making the beam scheduling method based on high-orbit satellites impossible to apply to low-orbit satellite communication systems.

[0003] Therefore, how to provide a beam scheduling method that can be used for low-orbit satellites is a technical problem that needs to be solved in this field. [Summary of the invention]

[0004] In order to solve the problem that the beam scheduling method based on high-orbit satellites in the prior art cannot be applied to low-orbit satellite communication systems, the present application provides a beam scheduling method.

[0005] A beam scheduling method, comprising:

[0006] Obtaining a preset relationship table, wherein the preset relationship table stores a correspondence between beam angles and satellite heavy coverage area grids;

[0007] Obtaining a beam scheduling strategy corresponding to the preset relationship table, and determining a beam angle of at least one heavy-coverage satellite according to the beam scheduling strategy and the preset relationship table;

[0008] A beam scheduling instruction including the beam angle is sent to the at least one re-cover satellite, wherein the beam scheduling instruction is used to instruct the re-cover satellite to transmit a beam according to the beam angle.

[0009] Optionally, obtaining the preset relationship table includes:

[0010] Obtaining a satellite heavy coverage area map, and performing rasterization processing on the satellite heavy coverage area map to obtain a satellite heavy coverage area raster;

[0011] The beam angle of the beam pointing to the satellite heavy coverage area grid is calculated according to the geographical location information of each of the satellite heavy coverage area grids, and the preset relationship table is generated according to the corresponding relationship between the beam angle and the satellite heavy coverage area grid.

[0012] Optionally, obtaining a satellite heavy coverage area map includes:

[0013] Obtaining the motion information and beam coverage of at least one satellite;

[0014] Calculating the appearance time period and the re-coverage range of the satellite re-coverage area according to the motion information and beam coverage range of the at least one satellite;

[0015] A satellite re-coverage area map corresponding to each occurrence time period is generated according to the occurrence time period and the re-coverage range of the satellite re-coverage area.

[0016] Optionally, after generating the preset relationship table according to the correspondence between the beam angle and the satellite heavy coverage area grid, the method further includes:

[0017] The satellite heavy coverage area map is updated every preset time period, and the preset relationship table is updated according to the updated satellite heavy coverage area map;

[0018] The generating a beam scheduling strategy according to the preset relationship table includes:

[0019] Detecting whether the preset relationship table is updated;

[0020] If yes, then generate a beam scheduling strategy based on the updated preset relationship table;

[0021] If not, a beam scheduling strategy is generated according to the current preset relationship table.

[0022] Optionally, obtaining the beam scheduling strategy corresponding to the preset relationship table includes:

[0023] Determine the corresponding satellite re-coverage area according to the preset relationship table, and obtain the number of re-coverage satellites in the satellite re-coverage area;

[0024] The satellite re-covering area grids are grouped according to the number of the re-covering satellites to obtain satellite re-covering area grid groups whose number corresponds to the number of the re-covering satellites;

[0025] Determine a switching period according to the number of the re-covering satellites, wherein the switching period includes the same number of switching moments as the number of the re-covering satellites;

[0026] For each re-cover satellite among all the re-cover satellites, a mapping relationship between the re-cover satellite and each group of satellite re-cover area grid groups at each switching moment within the switching period is obtained, wherein the satellite re-cover area grid group has a mapping relationship with only one re-cover satellite at the same switching moment, and the satellite re-cover area grid group has a mapping relationship with different re-cover satellites at different switching moments;

[0027] A beam scheduling strategy corresponding to the preset relationship table is generated according to a mapping relationship between each switching moment of each heavy-coverage satellite in the switching cycle and the satellite heavy-coverage area grid group.

[0028] Optionally, grouping the satellite over-coverage area grids according to the number of the over-coverage satellites includes:

[0029] Numbering each of the satellite re-coverage area grids;

[0030] Performing a modular operation with the number of the satellite re-covered area grid as the dividend and the number of the re-covered satellites as the divisor to obtain a modular operation result;

[0031] The satellite re-coverage areas with the same modular operation results are divided into the same satellite re-coverage area grid groups.

[0032] Optionally, for each re-cover satellite among all re-cover satellites, obtaining a mapping relationship between each switching moment of the re-cover satellite and each group of satellite re-cover area grid groups within the switching period includes:

[0033] According to the following formula, the jth heavy coverage satellite and the fth satellite are determined at the i-th switching time. ij The mapping relationship between the satellite coverage area grid group:

[0034] f ij =mod((i+j-2), k)+1

[0035] Wherein, i=1...k, j=1...k, and k is the number of the heavy coverage satellites.

[0036] Optionally, determining the beam angle of at least one heavy-coverage satellite according to the beam scheduling strategy and the preset relationship table includes:

[0037] For each of all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the current switching moment according to the beam scheduling strategy;

[0038] The satellite re-covery area grid of the re-covery satellite to send the beam at the current switching moment is determined from the satellite re-covery area grid group, and the beam angle corresponding to the satellite re-covery area grid is determined according to the preset relationship table as the beam angle of the re-covery satellite at the current switching moment.

[0039] Optionally, before determining the satellite re-coverage area grid of the beam to be transmitted by the re-coverage satellite at the current switching moment from the satellite re-coverage area grid group, the method further includes:

[0040] For each re-cover satellite among all the re-cover satellites, obtaining location information of a communication device connected to the re-cover satellite;

[0041] Determine the satellite heavy coverage area grid where the communication device is located according to the location information of the communication device;

[0042] The step of determining the satellite re-coverage area grid of the beam to be transmitted by the re-coverage satellite at the current switching moment from the satellite re-coverage area grid group comprises:

[0043] Detecting whether there is a communication device connected to the heavy coverage satellite in the satellite heavy coverage area grid group;

[0044] If so, it is determined that the satellite re-covery area grid where the communication device connected to the re-covery satellite exists is the satellite re-covery area grid of the beam to be transmitted at the current switching moment of the re-covery satellite.

[0045] Optionally, after determining, according to the preset relationship table, that the beam angle corresponding to the satellite heavy coverage area grid is the beam angle of the heavy coverage satellite at the current switching moment, the method further includes:

[0046] For each of all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the next switching moment according to the beam scheduling strategy;

[0047] The satellite re-covery area grid for the beam to be sent by the re-covery satellite at the next switching moment is determined from the satellite re-covery area grid group, and the beam angle corresponding to the satellite re-covery area grid is determined as the beam angle of the re-covery satellite at the next switching moment according to the preset relationship table.

[0048] A beam scheduling device, comprising:

[0049] A first acquisition module is used to acquire a preset relationship table, wherein the preset relationship table stores a correspondence between beam angles and satellite heavy coverage area grids;

[0050] A second acquisition module is used to acquire a beam scheduling strategy corresponding to the preset relationship table, and determine a beam angle of at least one heavy coverage satellite according to the beam scheduling strategy and the preset relationship table;

[0051] A sending module is used to send a beam scheduling instruction including the beam angle to the at least one re-covering satellite, wherein the beam scheduling instruction is used to instruct the re-covering satellite to transmit a beam according to the beam angle.

[0052] An electronic device, comprising:

[0053] A processor and a memory, wherein the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the beam scheduling method as described above is implemented.

[0054] A computer-readable storage medium stores a computer program, which implements the beam scheduling method as described above when executed by a processor.

[0055] The beam scheduling method provided in the embodiment of the present application obtains a preset relationship table storing the corresponding relationship between the beam angle and the satellite heavy coverage area grid, and determines the beam angle of the heavy coverage satellite according to the beam scheduling strategy corresponding to the preset relationship table and the preset relationship table, and sends a beam scheduling instruction containing the beam angle to the heavy coverage satellite, so that the heavy coverage satellite transmits the beam according to the beam angle. When faced with the problem that the low-orbit satellite moves quickly and needs to be frequently scheduled, the present application does not need to calculate the beam angle in real time, but directly reads the corresponding beam angle from the preset relationship table according to the beam scheduling strategy, which reduces the consumption of computing resources in the beam scheduling process and improves the efficiency of beam scheduling.

Brief Description of the Drawings

[0056] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0057] Figure 1 A flowchart of a satellite beam scheduling method provided in an embodiment of the present application;

[0058] Figure 2 for Figure 1 A flowchart of a practical expression of S01 in a provided satellite beam scheduling method;

[0059] Figure 3 A schematic diagram of a satellite heavy coverage area grid provided in an embodiment of the present application;

[0060] Figure 4 for Figure 1 A flowchart of a practical expression of S02 in a provided satellite beam scheduling method;

[0061] Figure 5 A schematic diagram of dividing satellite heavy coverage area grid groups provided in an embodiment of the present application;

[0062] Figure 6A schematic diagram of a mapping relationship between each switching moment of a heavy-coverage satellite and each group of satellite heavy-coverage area grid groups within a switching cycle provided by an embodiment of the present application;

[0063] Figure 7 Based on Figure 4 A flow chart of a satellite beam scheduling method for determining beam angles is provided;

[0064] Figure 8 A schematic diagram of a heavy coverage satellite service provided by an embodiment of the present application;

[0065] Fig. 9 A schematic diagram of the structure of a beam scheduling device provided in an embodiment of the present application. [Specific implementation method]

[0066] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0067] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0068] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0069] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0070] Beam scheduling refers to dynamically configuring communication resources for user terminals by controlling the spatial pointing, bandwidth, frequency and transmission power of the onboard multi-beam antenna, thereby improving the efficiency of satellite resources in terms of bandwidth and power. Traditional beam scheduling methods are mainly used in high-orbit satellite systems. Since the movement of high-orbit satellites is relatively fixed and slow, the beam hopping is slow and the service area is relatively fixed, beam scheduling is performed in real-time calculation, that is, after obtaining the geographic location information of the required service area each time, the beam scheduling related data is calculated in real time.

[0071] With the development of space information network technology, more and more countries or enterprises have begun to pay attention to the development of low-orbit communication satellites. Low-orbit constellation communication systems are usually composed of hundreds or even thousands of communication satellites with orbital altitudes of 300 to 1,500 kilometers and supporting ground systems. Compared with high-orbit satellites, low-orbit satellites have the characteristics of dynamic changes in communication resources and business needs. Due to the low orbit altitude and fast satellite movement speed in low-orbit constellation systems, frequent beam scheduling is required. The real-time calculation of beam scheduling-related data has high requirements on radio frequency capabilities, and the radio frequency is required to complete a series of related calculations such as determining the beam pointing in a very short time, making the beam scheduling method based on high-orbit satellites impossible to apply to low-orbit satellite communication systems. Therefore, the present application provides a beam scheduling method to solve the above problems.

[0072] Please refer to Figure 1 , is a flow chart of a satellite beam scheduling method provided in an embodiment of the present application, the method comprising the following steps:

[0073] Step S01, obtaining a preset relationship table, wherein the preset relationship table stores a correspondence between beam angles and satellite re-coverage area grids.

[0074] In some embodiments, a beam refers to the shape formed on the earth's surface by electromagnetic waves emitted by a satellite antenna. A satellite heavy coverage area is an area where two or more satellites have overlapping coverage when emitting beams. If two satellites emit beams to the same area at the same switching moment, the two beams will interfere with each other, causing the communication equipment in the area to be unable to use the services provided by the satellite. Therefore, it is necessary to perform beam scheduling on the satellite heavy coverage area to ensure that the area is covered by only one beam at the same switching moment.

[0075] In some embodiments, the satellite heavy coverage area grid is obtained by rasterizing the satellite heavy coverage area, and its purpose is to divide the satellite heavy coverage area into different area blocks, each area block corresponds to a beam angle, so that under a given beam angle, the satellite can transmit a beam to the satellite heavy coverage area grid corresponding to the beam angle.

[0076] In some embodiments, the preset relationship table is a relationship table pre-prepared based on the correspondence between the acquired beam angle and the satellite heavy coverage area grid. When faced with the problem of frequent beam scheduling due to the rapid movement of low-orbit satellites, there is no need to calculate the beam angle in real time. Instead, the beam angle corresponding to the satellite heavy coverage area grid is directly read from the preset relationship table, which reduces the consumption of computing resources in the beam scheduling process and improves the efficiency of beam scheduling.

[0077] In some embodiments, the established preset relationship table may be stored in a designated path in advance, and the preset relationship table may be obtained from the designated path when needed, thereby improving the efficiency of obtaining the preset relationship table.

[0078] Please refer to Figure 2 ,for Figure 1 A flowchart of an actual performance of S01 in a satellite beam scheduling method provided. In some embodiments, the preset relationship table can also be obtained by processing the satellite heavy coverage area map, that is, obtaining the preset relationship table mentioned in step S01, which can be specifically performed by executing the following Figure 2 The steps shown achieve:

[0079] S11, obtaining a satellite heavy coverage area map, and performing rasterization processing on the satellite heavy coverage area map to obtain a satellite heavy coverage area grid.

[0080] In some embodiments, the collected satellite heavy coverage area map may be stored in advance to a designated path, and the satellite heavy coverage area map may be obtained from the designated path when needed, thereby improving the efficiency of obtaining the satellite heavy coverage area map.

[0081] In some embodiments, in order to improve the accuracy of the obtained satellite heavy coverage area map, the satellite heavy coverage area map can also be calculated based on the motion information and beam coverage range of each heavy coverage satellite, that is, the satellite heavy coverage area map mentioned in step S11 is obtained, which can specifically include:

[0082] Obtaining the motion information and beam coverage of at least one satellite;

[0083] Calculating the appearance time period and the re-coverage range of the satellite re-coverage area according to the motion information and beam coverage range of the at least one satellite;

[0084] A satellite re-coverage area map corresponding to each occurrence time period is generated according to the occurrence time period and the re-coverage range of the satellite re-coverage area.

[0085] On the basis of the above embodiments, in some embodiments, the motion information of the satellite can be calculated based on the ephemeris information. The ephemeris information (ephemeris data) is also called the ephemeris table, which refers to a table of stellar orbital parameters, that is, the table data is used to describe the scheduled position of a stellar body at regular intervals, or the scheduled position of a man-made satellite at regular intervals. The position of each satellite at each switching time can be calculated through the ephemeris information.

[0086] Based on the above embodiments, in some embodiments, the server in the entire low-orbit satellite control system can calculate the switching time, size and corresponding number of re-covered satellites of the satellite re-covered area according to the ephemeris information.

[0087] Based on the above embodiments, in some embodiments, please refer to Figure 3 , is a schematic diagram of a satellite heavy coverage area grid provided in an embodiment of the present application, such as Figure 3 As shown in FIG. 1 , after the satellite heavy coverage area map is rasterized, each satellite heavy coverage area grid obtained corresponds to a wave position, forming a total of n grids. The grids are numbered, and a grid number set Acover = {a1, a2, ..., am} is established to form a grid pattern, which contains information such as the grid number and the longitude and latitude of the grid center.

[0088] S12, calculating the beam angle of the beam pointing to the satellite heavy coverage area grid according to the geographical location information of each satellite heavy coverage area grid, and generating the preset relationship table according to the correspondence between the beam angle and the satellite heavy coverage area grid.

[0089] In some embodiments, the beam angle includes an elevation angle θ and an azimuth angle After obtaining the geographic location information of each satellite heavy coverage area grid, the server in the low-orbit satellite control system can calculate the beam angle of the beam pointing to the satellite heavy coverage area grid based on the geographic location information. For example, after determining that the satellite heavy coverage area grid is numbered as a1, the server can first obtain the longitude and latitude (lon1, lat1) of the satellite heavy coverage area grid a1, and then calculate the beam angle of the beam pointing to the satellite heavy coverage area grid a1 based on the longitude and latitude (lon1, lat1) according to the preset beam angle algorithm.

[0090] In some embodiments, the satellite coverage area grid number is Acover = {a1, a2, ..., am}, where m is the total number of coverage area grids, and the θ and θ of the beam pointing to each element in Acover are calculated based on the geographic location information of each element in the set Acover. Generate beam ID and , and generate a preset relationship table as shown in Table 1 based on the corresponding relationship.

[0091]

[0092] Table 1

[0093] In some embodiments, since the satellite heavy coverage area changes with the movement of the satellite, in order to improve the accuracy of beam scheduling, after executing step S12, after generating the preset relationship table according to the correspondence between the beam angle and the satellite heavy coverage area grid, the following steps can be performed to complete the update of the preset relationship table:

[0094] The satellite heavy coverage area map is updated every preset time period, and the preset relationship table is updated according to the updated satellite heavy coverage area map.

[0095] In some embodiments, since the satellite heavy coverage area changes with the movement of the satellite, the preset relationship table needs to be continuously updated to improve the accuracy of beam scheduling. In order to reduce the time spent on obtaining the preset relationship table and further improve the efficiency of beam scheduling, the preset relationship table of all heavy coverage areas corresponding to each time period can be pre-calculated and saved in the preset path. When the preset relationship table needs to be updated, the preset relationship table corresponding to the current time period can be obtained from the preset path, which greatly shortens the time spent on obtaining the preset relationship table.

[0096] Step S02: obtaining a beam scheduling strategy corresponding to the preset relationship table, and determining a beam angle of at least one heavy-coverage satellite according to the beam scheduling strategy and the preset relationship table.

[0097] In some embodiments, the beam scheduling strategy may be a strategy pre-formulated for each satellite heavy coverage area, and there is a corresponding relationship between the beam scheduling strategy and the satellite heavy coverage area. After obtaining the preset relationship table, the beam scheduling strategy corresponding to the heavy coverage area may be determined based on the satellite heavy coverage area stored in the preset relationship table.

[0098] In some embodiments, the beam scheduling strategy may specifically be a strategy that can determine the corresponding satellite re-coverage area grid according to the switching time within the switching cycle and the number of the re-coverage satellite. After obtaining the current switching time and the number of the re-coverage satellite, the satellite re-coverage area grid corresponding to the re-coverage satellite at the current switching time may be determined, and the beam angle corresponding to the satellite re-coverage area grid may be found in the preset relationship table as the beam angle of the re-coverage satellite at the current switching time.

[0099] In some embodiments, since the satellite heavy coverage area changes with the movement of the satellite, in order to improve the accuracy of beam scheduling, the satellite heavy coverage area map is updated every preset time period, and the preset relationship table is updated according to the updated satellite heavy coverage area map. On this basis, in some embodiments, the beam scheduling strategy mentioned in step S02 is generated according to the preset relationship table, which can be specifically:

[0100] Detecting whether the preset relationship table is updated;

[0101] If yes, then generate a beam scheduling strategy based on the updated preset relationship table;

[0102] If not, a beam scheduling strategy is generated according to the current preset relationship table.

[0103] Step S03: Send a beam scheduling instruction including the beam angle to the at least one re-cover satellite, wherein the beam scheduling instruction is used to instruct the re-cover satellite to transmit a beam according to the beam angle.

[0104] In some embodiments, after determining the beam angle of at least one re-covering satellite, a beam scheduling instruction including the beam angle is sent to the re-covering satellite. When receiving the beam scheduling instruction, the re-covering satellite obtains the beam angle stored therein and transmits a beam according to the beam angle.

[0105] In some embodiments, after determining the beam angle, the re-coverage satellite can obtain the phase configuration of the phase shifter according to the beam angle. According to the phase configuration, the corresponding beam direction can be generated, the codebook vector corresponding to the beam direction can be obtained, and the beam is transmitted according to the codebook vector.

[0106] The beam scheduling method provided in the embodiment of the present application obtains a preset relationship table storing the corresponding relationship between the beam angle and the satellite heavy coverage area grid, and determines the beam angle of the heavy coverage satellite according to the beam scheduling strategy corresponding to the preset relationship table and the preset relationship table, and sends a beam scheduling instruction containing the beam angle to the heavy coverage satellite, so that the heavy coverage satellite transmits the beam according to the beam angle. When faced with the problem that the low-orbit satellite moves quickly and needs to be frequently scheduled, the present application does not need to calculate the beam angle in real time, but directly reads the corresponding beam angle from the preset relationship table according to the beam scheduling strategy, which reduces the consumption of computing resources in the beam scheduling process and improves the efficiency of beam scheduling.

[0107] Please refer to Figure 4 ,for Figure 1 A flowchart of a practical expression of S02 in a satellite beam scheduling method is provided.

[0108] In some embodiments, the beam scheduling strategy can be generated by pre-establishing a mapping relationship between each heavy-coverage satellite at each switching moment in the switching cycle and the satellite heavy-coverage area grid group, that is, the beam scheduling strategy corresponding to the preset relationship table mentioned in step S02 can be generated by executing the following: Figure 4 The steps shown achieve:

[0109] Step S21, determining the corresponding satellite re-coverage area according to the preset relationship table, and obtaining the number of re-coverage satellites in the satellite re-coverage area.

[0110] In some embodiments, since the corresponding relationship between the beam angle and the satellite re-coverage area grid is stored in the preset relationship table, the satellite re-coverage area can be determined according to the satellite re-coverage area grid.

[0111] In some embodiments, the number of re-covering satellites in the satellite re-covering area can be calculated based on ephemeris information. The ephemeris information stores the scheduled location of a certain star at regular intervals, or the scheduled location of a certain artificial satellite at regular intervals. The location of each satellite at each switching time can be calculated through the ephemeris information, and the number of re-covering satellites in the satellite re-covering area can be determined in combination with the beam coverage of each satellite.

[0112] Step S22, grouping the satellite re-coverage area grids according to the number of the re-coverage satellites to obtain satellite re-coverage area grid groups whose number corresponds to the number of the re-coverage satellites.

[0113] In some embodiments, since there may be communication devices connected to each heavy-coverage satellite in the satellite heavy-coverage area, in order to ensure that all communication devices in the satellite heavy-coverage area are served, each heavy-coverage satellite is required to be able to transmit beams to all satellite heavy-coverage area grids without interfering with each other.

[0114] In some embodiments, the satellite re-coverage area grids may be randomly grouped into satellite re-coverage area grid groups whose number corresponds to the number of re-coverage satellites, or the satellite re-coverage area grids may be evenly grouped according to the number of rows or columns corresponding to the number of re-coverage satellites.

[0115] In some embodiments, in order to improve the grouping efficiency, the satellite heavy coverage area grids may also be grouped according to the modular operation. As mentioned in step S22, the satellite heavy coverage area grids are grouped according to the number of the heavy coverage satellites, which may be specifically:

[0116] Numbering each of the satellite re-coverage area grids;

[0117] Performing a modular operation with the number of the satellite re-covered area grid as the dividend and the number of the re-covered satellites as the divisor to obtain a modular operation result;

[0118] The satellite re-coverage areas with the same modular operation results are divided into the same satellite re-coverage area grid groups.

[0119] For example, see Figure 5, which is a schematic diagram of dividing satellite heavy coverage area grid groups provided in an embodiment of the present application.

[0120] like Figure 5 As shown in the figure, taking the case where the number of heavy coverage satellites is 4 and the number of satellite heavy coverage area grids is 20 as an example, the division of satellite heavy coverage area grid groups is completed by executing the following steps:

[0121] Number each satellite coverage area grid to obtain Acover = {1, 2, 3..., 20};

[0122] Calculate the modulus operation result of each satellite coverage area grid according to the formula B=F(Acover)=mod(Acover,4)={1,2,3,0};

[0123] According to the result of the modular operation, the inverse mapping F -1 The division of the satellite heavy coverage area grid group can be completed:

[0124] F -1 (1)=A(cover,1)={1,5,9,13,17},

[0125] F -1 (2)=A(cover, 2)={2, 6, 10, 14, 18},

[0126] F -1 (3)=A(cover,3)={3,7,11,15,19},

[0127] F -1 (0)=A(cover, 0)={4, 8, 12, 16, 20}.

[0128] That is, the first group of satellite re-covery area grid groups includes satellite re-covery area grids numbered 1, 5, 9, 13, and 17, the second group of satellite re-covery area grid groups includes satellite re-covery area grids numbered 2, 6, 10, 14, and 18, the third group of satellite re-covery area grid groups includes satellite re-covery area grids numbered 3, 7, 11, 15, and 19, and the fourth group of satellite re-covery area grid groups includes satellite re-covery area grids numbered 4, 8, 12, 16, and 20.

[0129] Step S23, determining a switching period according to the number of the re-covering satellites, wherein the switching period includes the same number of switching moments as the number of the re-covering satellites.

[0130] In some embodiments, a preset time interval may be obtained as the time interval between two adjacent switching moments, and the switching moments having the same number as the number of re-covering satellites may be used as the switching period. For example, taking the number of re-covering satellites as 4 and the time interval between two adjacent switching moments as 2 seconds, the switching period is T = {t1, t2, t3, t4}, where the time interval between t1 and t2 is 2 seconds.

[0131] Step S24, for each re-cover satellite among all re-cover satellites, obtain the mapping relationship between the re-cover satellite and each group of satellite re-cover area grid groups at each switching moment within the switching cycle, the satellite re-cover area grid group has a mapping relationship with only one re-cover satellite at the same switching moment, and the satellite re-cover area grid group has a mapping relationship with different re-cover satellites at different switching moments.

[0132] In some embodiments, in order to ensure that all communication devices in the satellite re-coverage area are served, each re-coverage satellite needs to be able to transmit beams to all satellite re-coverage area grids without interfering with each other. To achieve this purpose, the embodiment of the present application obtains the mapping relationship between each re-coverage satellite and each group of satellite re-coverage area grid groups at each switching moment in the switching cycle. Since each satellite re-coverage area grid group has a mapping relationship with only one re-coverage satellite at the same switching moment, and each satellite re-coverage area grid group has a mapping relationship with different re-coverage satellites at different switching moments, when the re-coverage satellite switches from the current switching moment to the next switching moment, its corresponding satellite re-coverage area grid group also changes from the satellite re-coverage area grid group corresponding to the current switching moment to the satellite re-coverage area grid group corresponding to the next switching moment, so as to ensure that each group of satellite re-coverage area grid groups can be covered by the beams emitted by each re-coverage satellite in a switching cycle.

[0133] In some embodiments, the mapping relationship between the re-coverage satellites and the grid groups of each group of satellite re-coverage areas at each switching moment within the switching cycle can be randomly set or can be pre-set by the user according to industry standards. This application does not make specific limitations on this.

[0134] In some embodiments, in order to improve the acquisition efficiency of the mapping relationship, the mapping relationship can also be set by the server according to a preset rule. As mentioned in step S24, for each of all the re-covering satellites, the mapping relationship between the re-covering satellite and each group of satellite re-covering area grid groups at each switching time in the switching cycle is obtained, which can be specifically:

[0135] According to the following formula, the jth heavy coverage satellite and the fth satellite are determined at the i-th switching time. ij The mapping relationship between the satellite coverage area grid group:

[0136] f ij =mod((i+j-2), k)+1

[0137] Wherein, i=1...k, j=1...k, and k is the number of the heavy coverage satellites.

[0138] This embodiment determines the mapping relationship between the heavy-coverage satellite and each group of satellite heavy-coverage area grid groups at each switching moment in the switching cycle through the above formula, which can ensure that each group of satellite heavy-coverage area grid groups can be covered by the beam emitted by each heavy-coverage satellite in a switching cycle.

[0139] For example, see Figure 6 , which is a schematic diagram of the mapping relationship between a heavy-coverage satellite and each group of satellite heavy-coverage area grid groups at each switching moment within a switching cycle provided by an embodiment of the present application.

[0140] like Figure 6 As shown, taking the number of re-covering satellites as 4 and the number of satellite re-covering area grids as 20, the first group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 1, 5, 9, 13, and 17, the second group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 2, 6, 10, 14, and 18, the third group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 3, 7, 11, 15, and 19, and the fourth group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 4, 8, 12, 16, and 20 as an example, it can be known that:

[0141] f 11 =mod((1+1-2), 4)+1=1, that is, at the first switching moment, there is a mapping relationship between the first re-covering satellite and the first group of satellite re-covering area grid groups;

[0142] f 12 =mod((1+2-2), 4)+1=2, that is, at the first switching moment, there is a mapping relationship between the second re-covering satellite and the second group of satellite re-covering area grid groups;

[0143] f 13 =mod((1+3-2), 4)+1=3, that is, at the first switching moment, there is a mapping relationship between the third re-covering satellite and the third group of satellite re-covering area grid groups;

[0144] f 14 =mod((1+4-2), 4)+1=4, that is, at the first switching moment, there is a mapping relationship between the fourth re-covering satellite and the fourth group of satellite re-covering area grid groups;

[0145] f 21=mod((2+1-2), 4)+1=2, that is, at the second switching moment, there is a mapping relationship between the first re-covering satellite and the second group of satellite re-covering area grid groups;

[0146] f 22 =mod((2+2-2), 4)+1=3, that is, at the second switching moment, there is a mapping relationship between the second re-covering satellite and the third group of satellite re-covering area grid groups;

[0147] f 23 =mod((2+3-2), 4)+1=4, that is, at the second switching moment, there is a mapping relationship between the third re-covering satellite and the fourth group of satellite re-covering area grid groups;

[0148] f 24 =mod((2+4-2), 4)+1=1, that is, at the second switching moment, there is a mapping relationship between the fourth re-covering satellite and the first group of satellite re-covering area grid groups;

[0149] f 31 =mod((3+1-2), 4)+1=3, that is, at the third switching moment, there is a mapping relationship between the first re-covering satellite and the third group of satellite re-covering area grid groups;

[0150] f 32 =mod((3+2-2), 4)+1=4, that is, at the third switching moment, there is a mapping relationship between the second re-covering satellite and the fourth group of satellite re-covering area grid groups;

[0151] f 33 =mod((3+3-2), 4)+1=1, that is, at the third switching moment, there is a mapping relationship between the third re-covering satellite and the first group of satellite re-covering area grid groups;

[0152] f 34 =mod((3+4-2), 4)+1=2, that is, at the third switching moment, there is a mapping relationship between the fourth re-covering satellite and the second group of satellite re-covering area grid groups;

[0153] f 41 =mod((4+1-2), 4)+1=4, that is, at the fourth switching moment, there is a mapping relationship between the first re-covering satellite and the fourth group of satellite re-covering area grid groups;

[0154] f 42 =mod((4+2-2), 4)+1=1, that is, at the fourth switching moment, there is a mapping relationship between the second re-covering satellite and the first group of satellite re-covering area grid groups;

[0155] f 43=mod((4+3-2), 4)+1=2, that is, at the fourth switching moment, there is a mapping relationship between the third re-covering satellite and the second group of satellite re-covering area grid groups;

[0156] f 44 =mod((4+4-2), 4)+1=3, that is, at the fourth switching moment, there is a mapping relationship between the fourth re-covering satellite and the third group of satellite re-covering area grid groups.

[0157] Step S25, generating a beam scheduling strategy corresponding to the preset relationship table according to the mapping relationship between each switching moment of each heavy-coverage satellite and the satellite heavy-coverage area grid group within the switching cycle.

[0158] Step S26, determining the beam angle of at least one heavy-coverage satellite according to the beam scheduling strategy and the preset relationship table.

[0159] In some embodiments, the beam scheduling strategy stores a mapping relationship between each heavy-coverage satellite and the satellite heavy-coverage area grid group at each switching moment within the switching cycle. According to the beam scheduling strategy, the satellite heavy-coverage area grid group corresponding to each heavy-coverage satellite can be determined, and then the beam angle corresponding to the satellite heavy-coverage area grid group can be determined according to a preset relationship table.

[0160] Please refer to Figure 7 , based on Figure 4 The provided satellite beam scheduling method determines the beam angle flow chart. As mentioned in step S26, the beam angle of at least one heavy coverage satellite is determined according to the beam scheduling strategy and the preset relationship table, which can be specifically performed by executing Figure 7 The steps shown achieve:

[0161] Step S31, for each re-cover satellite among all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the current switching moment according to the beam scheduling strategy.

[0162] Step S32, determining the satellite re-coverage area grid of the beam to be sent by the re-coverage satellite at the current switching moment from the satellite re-coverage area grid group, and determining the beam angle corresponding to the satellite re-coverage area grid as the beam angle of the re-coverage satellite at the current switching moment according to the preset relationship table.

[0163] In some embodiments, since there may be communication devices connected to each re-covery satellite in the satellite re-covery area, in order to ensure that all communication devices in the satellite re-covery area are served, all satellite re-covery area grids in the satellite re-covery area grid group can be used as the satellite re-covery area grid for the beam to be sent at the current switching moment of the re-covery satellite.

[0164] In some embodiments, in order to further improve the efficiency of beam scheduling, beams may be transmitted only for satellite re-covered area grids where communication equipment connected to the re-covered satellite exists, that is, satellite re-covered area grids in the satellite re-covered area grid group where communication equipment connected to the re-covered satellite exists are used as satellite re-covered area grids for beams to be transmitted at the current switching moment of the re-covered satellite. That is, in step S32, before determining the satellite re-covered area grid for beams to be transmitted at the current switching moment of the re-covered satellite from the satellite re-covered area grid group, the method may further perform the following steps:

[0165] For each re-cover satellite among all the re-cover satellites, obtaining location information of a communication device connected to the re-cover satellite;

[0166] The satellite coverage area grid where the communication device is located is determined according to the location information of the communication device.

[0167] On this basis, as mentioned in step S32, the satellite re-coverage area grid of the re-coverage satellite to be transmitted at the current switching moment is determined from the satellite re-coverage area grid group, which can be specifically:

[0168] Detecting whether there is a communication device connected to the heavy coverage satellite in the satellite heavy coverage area grid group;

[0169] If so, it is determined that the satellite re-covery area grid where the communication device connected to the re-covery satellite exists is the satellite re-covery area grid of the beam to be transmitted at the current switching moment of the re-covery satellite.

[0170] This embodiment further improves the efficiency of beam scheduling by using the satellite re-coverage area grid in the satellite re-coverage area grid group that has communication equipment connected to the re-coverage satellite as the satellite re-coverage area grid for the beam to be sent by the re-coverage satellite at the current switching moment.

[0171] For example, see Figure 8 , which is a schematic diagram of a heavy coverage satellite service provided in an embodiment of the present application.

[0172] like Figure 8As shown, the number of heavy coverage satellites is 4, the number of satellite heavy coverage area grids is 20, the current time is t1, the communication device connected to satellite 1 is mobile phone A, the communication device connected to satellite 2 is mobile phone B, the communication device connected to satellite 3 is mobile phone C, and the communication device connected to satellite 4 is mobile phone D. The first group of satellite heavy coverage area grid groups includes satellite heavy coverage area grids numbered 1, 5, 9, 13, and 17, the second group of satellite heavy coverage area grid groups includes satellite heavy coverage area grids numbered 2, 6, 10, 14, and 18, the third group of satellite heavy coverage area grid groups includes satellite heavy coverage area grids numbered 3, 7, 11, 15, and 19, and the fourth group of satellite heavy coverage area grid groups includes satellite heavy coverage area grids numbered 4, 8, 12, 16, and 20. For example, it can be known that:

[0173] At time t1, satellite 1 provides services from the grid wave position where the satellite user exists in the grid group of the first group of satellite heavy coverage areas, that is, it selects the grid wave position {13} where mobile phone A exists from {1, 5, 9, 13, 17} for service, that is, at time t1, the beam angle of the grid wave position {13} corresponding to satellite 1 is read from the preset relationship table.

[0174] At time t1, satellite 2 provides services from the grid wave position where the satellite user exists in the grid group of the second satellite coverage area, that is, it selects the grid wave position {2} where mobile phone B exists from {2, 6, 10, 14, 18} for service, that is, at time t1, the beam angle of the grid wave position {2} corresponding to satellite 2 is read from the preset relationship table.

[0175] At time t1, satellite 3 provides services from the grid wave position where the satellite user exists in the grid group of the third group of satellite heavy coverage area, that is, it selects the grid wave position where mobile phone C exists from {3, 7, 11, 15, 19} for service. However, at this time, mobile phone C does not exist in the grid group of the second group of satellite heavy coverage area {3, 7, 11, 15, 19}, so the beam angle corresponding to satellite 3 is not read from the preset relationship table at time t1;

[0176] At time t1, satellite 4 provides service from the grid wave position where the satellite user exists in the grid group of the fourth group of satellite heavy coverage area, that is, it selects the grid wave position {16, 20} where mobile phone B exists from {4, 8, 12, 16, 20} for service, that is, at time t1, the beam angle of the grid wave position {16, 20} corresponding to satellite 4 is read from the preset relationship table. and

[0177] In some embodiments, in order to further improve the efficiency of beam scheduling, the beam angle of each re-cover satellite at the next switching moment can also be read in advance, that is, in step S32, after determining that the beam angle corresponding to the satellite re-cover area grid is the beam angle of the re-cover satellite at the current switching moment according to the preset relationship table, the beam angle of each re-cover satellite at the next switching moment can also be read by executing the following steps:

[0178] For each of all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the next switching moment according to the beam scheduling strategy;

[0179] The satellite re-covery area grid for the beam to be sent by the re-covery satellite at the next switching moment is determined from the satellite re-covery area grid group, and the beam angle corresponding to the satellite re-covery area grid is determined as the beam angle of the re-covery satellite at the next switching moment according to the preset relationship table.

[0180] For example, the number of re-covering satellites is 4, the number of satellite re-covering area grids is 20, the current time is t1, the communication device connected to satellite 1 is mobile phone A, the communication device connected to satellite 2 is mobile phone B, the communication device connected to satellite 3 is mobile phone C, and the communication device connected to satellite 4 is mobile phone D. The first group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 1, 5, 9, 13, and 17, the second group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 2, 6, 10, 14, and 18, the third group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 3, 7, 11, 15, and 19, and the fourth group of satellite re-covering area grid groups includes satellite re-covering area grids numbered 4, 8, 12, 16, and 20. For example, it can be known that:

[0181] At time t2, satellite 1 provides services from the grid wave position where the satellite user exists in the second group of satellite heavy coverage area grid groups, that is, it selects the grid wave position where mobile phone A exists from {2, 6, 10, 14, 18} for service. However, at this time, mobile phone A does not exist in any of the second group of satellite heavy coverage area grid groups {2, 6, 10, 14, 18}, so the beam angle corresponding to satellite 1 is not read from the preset relationship table at time t2;

[0182] At time t2, satellite 2 provides services from the grid wave position where the satellite user exists in the grid group of the third group of satellite heavy coverage area, that is, it selects the grid wave position where mobile phone B exists from {3, 7, 11, 15, 19} for service. However, at this time, mobile phone B does not exist in the grid group of the second group of satellite heavy coverage area {3, 7, 11, 15, 19}, so the beam angle corresponding to satellite 2 is not read from the preset relationship table at time t2;

[0183] At time t2, satellite 3 provides service from the grid wave position where the satellite user exists in the grid group of the fourth group of satellite heavy coverage area, that is, it selects the grid wave position {20} where mobile phone C exists from {4, 8, 12, 16, 20} for service, that is, at time t2, the beam angle of the grid wave position {20} corresponding to satellite 3 is read from the preset relationship table.

[0184] At time t2, satellite 4 provides services from the grid wave position where the satellite user exists in the grid group of the first group of satellite heavy coverage areas, that is, it selects the grid wave position {5} where mobile phone D exists from {1, 5, 9, 13, 17} for service, that is, at time t2, the beam angle of the grid wave position {5} corresponding to satellite 4 is read from the preset relationship table.

[0185] Please refer to Fig. 9 , is a schematic diagram of the structure of a beam scheduling device provided in an embodiment of the present application, the device comprising:

[0186] A first acquisition module 100 is used to acquire a preset relationship table, wherein the preset relationship table stores a correspondence between beam angles and satellite heavy coverage area grids;

[0187] A second acquisition module 200 is used to acquire a beam scheduling strategy corresponding to the preset relationship table, and determine a beam angle of at least one heavy coverage satellite according to the beam scheduling strategy and the preset relationship table;

[0188] The sending module 300 is used to send a beam scheduling instruction including the beam angle to the at least one re-covering satellite, wherein the beam scheduling instruction is used to instruct the re-covering satellite to transmit a beam according to the beam angle.

[0189] Based on the above embodiments, in some embodiments, the first acquisition module 100 may be specifically used for:

[0190] Obtaining a satellite heavy coverage area map, and performing rasterization processing on the satellite heavy coverage area map to obtain a satellite heavy coverage area raster;

[0191] The beam angle of the beam pointing to the satellite heavy coverage area grid is calculated according to the geographical location information of each of the satellite heavy coverage area grids, and the preset relationship table is generated according to the corresponding relationship between the beam angle and the satellite heavy coverage area grid.

[0192] Based on the above embodiments, in some specific embodiments, the first acquisition module 100 can be specifically used for:

[0193] Obtaining the motion information and beam coverage of at least one heavy coverage satellite;

[0194] Calculating the appearance time period and the re-coverage range of the satellite re-coverage area according to the motion information and beam coverage of the at least one re-coverage satellite;

[0195] A satellite re-coverage area map corresponding to each occurrence time period is generated according to the occurrence time period and the re-coverage range of the satellite re-coverage area.

[0196] Based on the above embodiments, in some specific embodiments, the first acquisition module 100 may also be used for:

[0197] The satellite heavy coverage area map is updated every preset time period, and the preset relationship table is updated according to the updated satellite heavy coverage area map;

[0198] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 can be specifically used for:

[0199] Detecting whether the preset relationship table is updated;

[0200] If yes, then generate a beam scheduling strategy based on the updated preset relationship table;

[0201] If not, a beam scheduling strategy is generated according to the current preset relationship table.

[0202] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 can be specifically used for:

[0203] Determine the corresponding satellite re-coverage area according to the preset relationship table, and obtain the number of re-coverage satellites in the satellite re-coverage area;

[0204] The satellite re-covering area grids are grouped according to the number of the re-covering satellites to obtain satellite re-covering area grid groups whose number corresponds to the number of the re-covering satellites;

[0205] Determine a switching period according to the number of the re-covering satellites, wherein the switching period includes the same number of switching moments as the number of the re-covering satellites;

[0206] For each re-cover satellite among all the re-cover satellites, a mapping relationship between the re-cover satellite and each group of satellite re-cover area grid groups at each switching moment within the switching period is obtained, wherein the satellite re-cover area grid group has a mapping relationship with only one re-cover satellite at the same switching moment, and the satellite re-cover area grid group has a mapping relationship with different re-cover satellites at different switching moments;

[0207] A beam scheduling strategy corresponding to the preset relationship table is generated according to a mapping relationship between each switching moment of each heavy-coverage satellite in the switching cycle and the satellite heavy-coverage area grid group.

[0208] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 can be specifically used for:

[0209] Numbering each of the satellite re-coverage area grids;

[0210] Performing a modular operation with the number of the satellite re-covered area grid as the dividend and the number of the re-covered satellites as the divisor to obtain a modular operation result;

[0211] The satellite re-coverage areas with the same modular operation results are divided into the same satellite re-coverage area grid groups.

[0212] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 can be specifically used for:

[0213] According to the following formula, the jth heavy coverage satellite and the fth satellite are determined at the i-th switching time. ij The mapping relationship between the satellite coverage area grid group:

[0214] f ij =mod((i+j-2), k)+1

[0215] Wherein, i=1...k, j=1...k, and k is the number of the heavy coverage satellites.

[0216] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 can be specifically used for:

[0217] For each of all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the current switching moment according to the beam scheduling strategy;

[0218] The satellite re-covery area grid of the re-covery satellite to send the beam at the current switching moment is determined from the satellite re-covery area grid group, and the beam angle corresponding to the satellite re-covery area grid is determined according to the preset relationship table as the beam angle of the re-covery satellite at the current switching moment.

[0219] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 may also be used for:

[0220] For each re-cover satellite among all the re-cover satellites, obtaining location information of a communication device connected to the re-cover satellite;

[0221] Determine the satellite heavy coverage area grid where the communication device is located according to the location information of the communication device;

[0222] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 can be specifically used for:

[0223] Detecting whether there is a communication device connected to the heavy coverage satellite in the satellite heavy coverage area grid group;

[0224] If so, it is determined that the satellite re-covery area grid where the communication device connected to the re-covery satellite exists is the satellite re-covery area grid of the beam to be transmitted at the current switching moment of the re-covery satellite.

[0225] Based on the above embodiments, in some specific embodiments, the second acquisition module 200 can be specifically used for:

[0226] For each of all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the next switching moment according to the beam scheduling strategy;

[0227] The satellite re-covery area grid for the beam to be sent by the re-covery satellite at the next switching moment is determined from the satellite re-covery area grid group, and the beam angle corresponding to the satellite re-covery area grid is determined as the beam angle of the re-covery satellite at the next switching moment according to the preset relationship table.

[0228] An embodiment of the present application provides an electronic device, including a processor and a memory, the memory being used to store at least one instruction, and when the instruction is loaded and executed by the processor, the above-mentioned satellite beam scheduling method is implemented, and its execution method and beneficial effects are similar and will not be repeated here.

[0229] An embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the above-mentioned satellite beam scheduling method is implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0230] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A beam scheduling method, characterized in that: include: Obtaining a preset relationship table, wherein the preset relationship table stores a correspondence between beam angles and satellite heavy coverage area grids; Obtaining a beam scheduling strategy corresponding to the preset relationship table, and determining a beam angle of at least one heavy-coverage satellite according to the beam scheduling strategy and the preset relationship table; Sending a beam scheduling instruction including the beam angle to the at least one re-cover satellite, wherein the beam scheduling instruction is used to instruct the re-cover satellite to transmit a beam according to the beam angle; Wherein, obtaining the beam scheduling strategy corresponding to the preset relationship table includes: Determine the corresponding satellite re-coverage area according to the preset relationship table, and obtain the number of re-coverage satellites in the satellite re-coverage area; The satellite re-covering area grids are grouped according to the number of the re-covering satellites to obtain satellite re-covering area grid groups whose number corresponds to the number of the re-covering satellites; Determine a switching period according to the number of the re-covering satellites, wherein the switching period includes the same number of switching moments as the number of the re-covering satellites; For each re-cover satellite among all the re-cover satellites, a mapping relationship between the re-cover satellite and each group of satellite re-cover area grid groups at each switching moment within the switching period is obtained, wherein the satellite re-cover area grid group has a mapping relationship with only one re-cover satellite at the same switching moment, and the satellite re-cover area grid group has a mapping relationship with different re-cover satellites at different switching moments; A beam scheduling strategy corresponding to the preset relationship table is generated according to a mapping relationship between each switching moment of each heavy-coverage satellite in the switching cycle and the satellite heavy-coverage area grid group.

2. The method according to claim 1, characterized in that The obtaining of the preset relationship table includes: Obtaining a satellite heavy coverage area map, and performing rasterization processing on the satellite heavy coverage area map to obtain a satellite heavy coverage area raster; The beam angle of the beam pointing to the satellite heavy coverage area grid is calculated according to the geographical location information of each of the satellite heavy coverage area grids, and the preset relationship table is generated according to the corresponding relationship between the beam angle and the satellite heavy coverage area grid.

3. The method according to claim 2, characterized in that The obtaining of the satellite heavy coverage area map comprises: Obtaining the motion information and beam coverage of at least one satellite; Calculating the appearance time period and the re-coverage range of the satellite re-coverage area according to the motion information and beam coverage range of the at least one satellite; A satellite re-coverage area map corresponding to each occurrence time period is generated according to the occurrence time period and the re-coverage range of the satellite re-coverage area.

4. The method according to claim 2, characterized in that: After generating the preset relationship table according to the correspondence between the beam angle and the satellite heavy coverage area grid, the method further includes: The satellite heavy coverage area map is updated every preset time period, and the preset relationship table is updated according to the updated satellite heavy coverage area map; The generating a beam scheduling strategy according to the preset relationship table includes: Detecting whether the preset relationship table is updated; If yes, then generate a beam scheduling strategy based on the updated preset relationship table; If not, a beam scheduling strategy is generated according to the current preset relationship table.

5. The method according to claim 1, characterized in that: The grouping process of the satellite heavy coverage area grids according to the number of the heavy coverage satellites comprises: Numbering each of the satellite re-coverage area grids; Performing a modular operation with the number of the satellite re-covered area grid as the dividend and the number of the re-covered satellites as the divisor to obtain a modular operation result; The satellite re-coverage areas with the same modular operation results are divided into the same satellite re-coverage area grid groups.

6. The method according to claim 1, characterized in that The step of obtaining, for each re-covering satellite among all the re-covering satellites, a mapping relationship between the re-covering satellite and each group of satellite re-covering area grid groups at each switching moment within the switching period includes: According to the following formula, the jth heavy coverage satellite and the fth satellite are determined at the i-th switching time. ij The mapping relationship between the satellite coverage area grid group: ； Wherein, i=1...k, j=1...k, and k is the number of the heavy coverage satellites.

7. The method according to claim 1, characterized in that The determining the beam angle of at least one heavy-coverage satellite according to the beam scheduling strategy and the preset relationship table includes: For each of all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the current switching moment according to the beam scheduling strategy; The satellite re-covery area grid of the re-covery satellite to send the beam at the current switching moment is determined from the satellite re-covery area grid group, and the beam angle corresponding to the satellite re-covery area grid is determined according to the preset relationship table as the beam angle of the re-covery satellite at the current switching moment.

8. The method according to claim 7, characterized in that Before determining the satellite re-coverage area grid of the beam to be transmitted at the current switching moment of the re-coverage satellite from the satellite re-coverage area grid group, the method further comprises: For each re-cover satellite among all the re-cover satellites, obtaining location information of a communication device connected to the re-cover satellite; Determine the satellite heavy coverage area grid where the communication device is located according to the location information of the communication device; The step of determining the satellite re-coverage area grid of the beam to be transmitted by the re-coverage satellite at the current switching moment from the satellite re-coverage area grid group comprises: Detecting whether there is a communication device connected to the heavy coverage satellite in the satellite heavy coverage area grid group; If so, it is determined that the satellite re-covery area grid where the communication device connected to the re-covery satellite exists is the satellite re-covery area grid of the beam to be transmitted at the current switching moment of the re-covery satellite.

9. The method according to claim 7, characterized in that: After determining, according to the preset relationship table, that the beam angle corresponding to the satellite heavy coverage area grid is the beam angle of the heavy coverage satellite at the current switching moment, the method further includes: For each of all the re-cover satellites, determine the satellite re-cover area grid group corresponding to the re-cover satellite at the next switching moment according to the beam scheduling strategy; The satellite re-covery area grid for the beam to be sent by the re-covery satellite at the next switching moment is determined from the satellite re-covery area grid group, and the beam angle corresponding to the satellite re-covery area grid is determined as the beam angle of the re-covery satellite at the next switching moment according to the preset relationship table.

10. A beam scheduling device, characterized in that: include: A first acquisition module is used to acquire a preset relationship table, wherein the preset relationship table stores a correspondence between beam angles and satellite heavy coverage area grids; A second acquisition module is used to acquire a beam scheduling strategy corresponding to the preset relationship table, and determine a beam angle of at least one heavy coverage satellite according to the beam scheduling strategy and the preset relationship table; A sending module, used for sending a beam scheduling instruction including the beam angle to the at least one re-covering satellite, wherein the beam scheduling instruction is used for instructing the re-covering satellite to transmit a beam according to the beam angle; Wherein, obtaining the beam scheduling strategy corresponding to the preset relationship table includes: Determine the corresponding satellite re-coverage area according to the preset relationship table, and obtain the number of re-coverage satellites in the satellite re-coverage area; The satellite re-covering area grids are grouped according to the number of the re-covering satellites to obtain satellite re-covering area grid groups whose number corresponds to the number of the re-covering satellites; Determine a switching period according to the number of the re-covering satellites, wherein the switching period includes the same number of switching moments as the number of the re-covering satellites; For each re-cover satellite among all the re-cover satellites, a mapping relationship between the re-cover satellite and each group of satellite re-cover area grid groups at each switching moment within the switching period is obtained, wherein the satellite re-cover area grid group has a mapping relationship with only one re-cover satellite at the same switching moment, and the satellite re-cover area grid group has a mapping relationship with different re-cover satellites at different switching moments; A beam scheduling strategy corresponding to the preset relationship table is generated according to a mapping relationship between each switching moment of each heavy-coverage satellite in the switching cycle and the satellite heavy-coverage area grid group.

11. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store at least one instruction, and when the instruction is loaded and executed by the processor, the method for beam scheduling as described in any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the beam scheduling method as described in any one of claims 1 to 9 is implemented.

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