Satellite routing method and device based on multi-objective optimization, equipment and storage medium

Abstract

The application discloses a satellite routing method and device based on multi-objective optimization, equipment and storage medium, relates to the technical field of satellite communication. The satellite routing method based on multi-objective optimization comprises the following steps: obtaining the running state information of a satellite communication network; according to the running state information, the satellites in the satellite communication network are divided into at least two stable satellite clusters; topology abstraction is performed on each stable satellite cluster to obtain a cluster time-varying graph corresponding to the satellite communication network; a target transmission path is generated according to the cluster time-varying graph, and satellite routing is performed based on the target transmission path. The application solves the technical problem of excessive operation resource consumption of the dynamic routing algorithm of the satellite communication network in the prior art.

Description

Technical Field

[0001] This application relates to the field of satellite communication technology, and in particular to a satellite routing method, apparatus, device and storage medium based on multi-objective optimization. Background Technology

[0002] In recent years, the deployment of low- and medium-Earth orbit satellite constellations, represented by Starlink and OneWeb, has been rapidly advanced both domestically and internationally, leading to the rapid development of satellite internet. Due to its advantages such as wide coverage and high transmission speed, satellite internet has been applied in fields such as emergency rescue, aviation and maritime surveillance, and remote sensing.

[0003] Low Earth orbit (LEO) satellite networks are characterized by rapid topology changes, shortage of onboard resources, and unstable inter-satellite links. Furthermore, driven by the diverse needs of space applications, LEO satellite networks are developing towards large-scale, high-density, and multi-layered architectures. Therefore, routing algorithms used in terrestrial network systems cannot be directly applied to satellite networks.

[0004] While existing dynamic routing algorithms can change routes in real time according to network conditions, are highly adaptable, and have a good way to handle network congestion and other problems, the exchange of link information will generate significant overhead, and the computational resource consumption will increase as the network scales up. Summary of the Invention

[0005] The main objective of this application is to provide a satellite routing method based on multi-objective optimization, which aims to solve the technical problem of excessive computational resource overhead in the dynamic routing algorithm of satellite communication networks in the prior art.

[0006] To achieve the above objectives, this application provides a satellite routing method based on multi-objective optimization, which includes the following steps:

[0007] To obtain operational status information of satellite communication networks;

[0008] Based on the operational status information, the satellites in the satellite communication network are divided into at least two stable satellite clusters;

[0009] Topological abstraction is performed on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network;

[0010] Based on the clustered time-varying map, a target transmission path is generated, and satellite routing is performed based on the target transmission path.

[0011] Optionally, the operational status information includes the orbital direction of the satellites in the satellite communication network, and the step of dividing the satellites in the satellite communication network into at least two stable satellite clusters based on the operational status information includes:

[0012] Based on the stated direction of flight, the satellites in the satellite communication network are divided into ascending satellites and descending satellites;

[0013] Based on a preset line-of-sight distance, the ascending satellites are divided into at least one first satellite cluster, and the descending satellites are divided into at least one second satellite cluster;

[0014] The first satellite cluster and the second satellite cluster are used as the stable satellite clusters of the satellite communication network.

[0015] Optionally, the operational status information further includes the operational latitude of the satellites in the satellite communication network. The step of dividing the ascending satellites into at least one first satellite cluster and the descending satellites into at least one second satellite cluster based on a preset line-of-sight distance includes:

[0016] Based on the operating latitude, the ascending satellite is divided into at least one first latitude partition;

[0017] The satellites in the first latitude partition are divided according to a preset line-of-sight distance to obtain the first satellite cluster;

[0018] Based on the operating latitude, the descending satellite is divided into at least one second latitude partition;

[0019] The satellites in the second latitude partition are divided according to a preset line-of-sight distance to obtain a second satellite cluster.

[0020] Optionally, the stable satellite clustering includes cluster head satellites and intra-cluster satellites, and the step of performing topological abstraction on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network includes:

[0021] The cluster head satellite and satellites within the stable satellite cluster are used as cluster nodes, and the cluster nodes are connected according to the inter-satellite links to generate an intra-cluster network.

[0022] The cluster head satellites in each of the stable satellite clusters are used as inter-cluster nodes, and the inter-satellite links between the inter-cluster nodes are connected to generate a time-varying inter-cluster network.

[0023] By splicing the intra-cluster network and the time-varying inter-cluster network, a clustered time-varying map corresponding to the satellite communication network is obtained.

[0024] Optionally, the step of generating a target transmission path based on the clustering time-varying map and performing satellite routing based on the target transmission path includes:

[0025] In response to a satellite routing instruction, the corresponding star chain attribute parameters between each satellite node in the clustered time-varying graph are obtained, wherein the satellite routing instruction includes the starting satellite node and the target satellite node;

[0026] Based on the cluster time-varying diagram, and using the starlink attribute parameters as optimization targets, a target transmission path from the starting satellite node to the target satellite node is generated based on preset attribute consistency.

[0027] Based on the target transmission path, the satellite communication network is controlled to perform the satellite routing operation corresponding to the satellite routing command.

[0028] Optionally, the step of generating a target transmission path from the starting satellite node to the target satellite node based on the cluster time-varying map, using the starlink attribute parameters as optimization targets, and based on preset attribute consistency, includes:

[0029] When the starting satellite node and the target satellite node are located in the same stable satellite cluster in the cluster time-varying map, based on the cluster time-varying map, and using the star chain attribute parameters as optimization targets, at least one dominant path from the starting satellite node to the target satellite node is generated based on preset attribute consistency.

[0030] The dominant path is used as the target transmission path from the starting satellite node to the target satellite node.

[0031] Optionally, the step of generating the target transmission path from the starting satellite node to the target satellite node based on the cluster time-varying map, using the starlink attribute parameters as optimization targets, and based on preset attribute consistency, further includes:

[0032] When the starting satellite node and the target satellite node are not located in the same stable satellite cluster in the cluster time-varying map, the starting cluster head satellite in the stable satellite cluster where the starting satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located are obtained.

[0033] Based on the cluster time-varying diagram, and taking the star chain attribute parameters as optimization targets, a first dominant path from the starting satellite node to the starting cluster head satellite, a second dominant path from the starting cluster head satellite to the target cluster head satellite, and a third dominant path from the target cluster head satellite to the target satellite node are generated based on preset attribute consistency.

[0034] The first dominant path, the second dominant path, and the third dominant path are connected sequentially to generate the target transmission path from the starting satellite node to the target satellite node.

[0035] Furthermore, to achieve the above objectives, this application also provides a satellite routing device based on multi-objective optimization, the satellite routing device based on multi-objective optimization comprising:

[0036] The acquisition module is used to acquire operational status information of the satellite communication network;

[0037] The clustering module is used to divide the satellites in the satellite communication network into at least two stable satellite clusters based on the operating status information.

[0038] The topology module is used to perform topological abstraction on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network;

[0039] The routing module is used to generate a target transmission path based on the clustered time-varying map, and to perform satellite routing based on the target transmission path.

[0040] Optionally, the operational status information includes the orbital direction of satellites in the satellite communication network, the clustering module, and is further used for:

[0041] Based on the stated direction of flight, the satellites in the satellite communication network are divided into ascending satellites and descending satellites;

[0042] Based on a preset line-of-sight distance, the ascending satellites are divided into at least one first satellite cluster, and the descending satellites are divided into at least one second satellite cluster;

[0043] The first satellite cluster and the second satellite cluster are used as the stable satellite clusters of the satellite communication network.

[0044] Optionally, the operational status information also includes the operational latitude of the satellites in the satellite communication network. The clustering module is further used for:

[0045] Based on the operating latitude, the ascending satellite is divided into at least one first latitude partition;

[0046] The satellites in the first latitude partition are divided according to a preset line-of-sight distance to obtain the first satellite cluster;

[0047] Based on the operating latitude, the descending satellite is divided into at least one second latitude partition;

[0048] The satellites in the second latitude partition are divided according to a preset line-of-sight distance to obtain a second satellite cluster.

[0049] Optionally, the topology module is also used for:

[0050] The cluster head satellite and satellites within the stable satellite cluster are used as cluster nodes, and the cluster nodes are connected according to the inter-satellite links to generate an intra-cluster network.

[0051] The cluster head satellites in each of the stable satellite clusters are used as inter-cluster nodes, and the inter-satellite links between the inter-cluster nodes are connected to generate a time-varying inter-cluster network.

[0052] By splicing the intra-cluster network and the time-varying inter-cluster network, a clustered time-varying map corresponding to the satellite communication network is obtained.

[0053] Optionally, the routing module is also used for:

[0054] In response to a satellite routing instruction, the corresponding star chain attribute parameters between each satellite node in the clustered time-varying graph are obtained, wherein the satellite routing instruction includes the starting satellite node and the target satellite node;

[0055] Based on the cluster time-varying diagram, and using the starlink attribute parameters as optimization targets, a target transmission path from the starting satellite node to the target satellite node is generated based on preset attribute consistency.

[0056] Based on the target transmission path, the satellite communication network is controlled to perform the satellite routing operation corresponding to the satellite routing command.

[0057] Optionally, the routing module is also used for:

[0058] When the starting satellite node and the target satellite node are located in the same stable satellite cluster in the cluster time-varying map, based on the cluster time-varying map, and using the star chain attribute parameters as optimization targets, at least one dominant path from the starting satellite node to the target satellite node is generated based on preset attribute consistency.

[0059] The dominant path is used as the target transmission path from the starting satellite node to the target satellite node.

[0060] Optionally, the routing module is also used for:

[0061] When the starting satellite node and the target satellite node are not located in the same stable satellite cluster in the cluster time-varying map, the starting cluster head satellite in the stable satellite cluster where the starting satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located are obtained.

[0062] Based on the cluster time-varying diagram, and taking the star chain attribute parameters as optimization targets, a first dominant path from the starting satellite node to the starting cluster head satellite, a second dominant path from the starting cluster head satellite to the target cluster head satellite, and a third dominant path from the target cluster head satellite to the target satellite node are generated based on preset attribute consistency.

[0063] The first dominant path, the second dominant path, and the third dominant path are connected sequentially to generate the target transmission path from the starting satellite node to the target satellite node.

[0064] Furthermore, to achieve the above objectives, this application also provides a satellite routing device based on multi-objective optimization, the satellite routing device based on multi-objective optimization comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, it implements the steps of the satellite routing method based on multi-objective optimization as described in any of the preceding claims.

[0065] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a satellite routing program based on multi-objective optimization, wherein when executed by a processor, the satellite routing program based on multi-objective optimization implements the steps of the satellite routing method based on multi-objective optimization as described in any of the preceding claims.

[0066] This application proposes a satellite routing method, apparatus, device, and computer-readable storage medium based on multi-objective optimization. The method involves acquiring operational status information of a satellite communication network; dividing the satellites in the network into at least two stable satellite clusters based on this information; performing topological abstraction on each stable satellite cluster to obtain a cluster time-varying map corresponding to the satellite communication network; generating a target transmission path based on the cluster time-varying map; and performing satellite routing based on the target transmission path. By dividing the satellites in the satellite communication network into multiple stable satellite clusters, this application addresses the problem of excessively large satellite communication network scales. Since intra-cluster links within satellite clusters remain stable while inter-cluster links between satellite clusters change dynamically, this method reduces the computational resource overhead during satellite routing. Furthermore, because static routing is not used, the routing path can be adaptively adjusted to reflect the dynamic changes in inter-cluster links between satellite clusters, ensuring the adaptability of the multi-objective optimization-based satellite routing method. Attached Figure Description

[0067] Figure 1 This is a flowchart illustrating the first embodiment of the satellite routing method based on multi-objective optimization in this application;

[0068] Figure 2 This is a schematic diagram of a scenario involving a preset viewing distance in the embodiments of this application;

[0069] Figure 3 This is a flowchart illustrating the second embodiment of the satellite routing method based on multi-objective optimization in this application;

[0070] Figure 4This is a schematic diagram of an intra-cluster network scenario involved in the embodiments of this application;

[0071] Figure 5 This is a schematic diagram of an inter-cluster network scenario involved in the embodiments of this application;

[0072] Figure 6 This is a schematic diagram of the first simulation experiment involved in the embodiment of this application.

[0073] Figure 7 This is a schematic diagram of the second simulation experiment involved in the embodiment of this application.

[0074] Figure 8 This is a schematic diagram of the third simulation experiment involved in the embodiments of this application.

[0075] Figure 9 This is a schematic diagram of the structure of a satellite routing device based on multi-objective optimization involved in the embodiments of this application;

[0076] Figure 10 This is a schematic diagram of a satellite routing device based on multi-objective optimization involved in the embodiments of this application.

[0077] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0078] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0079] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0080] The terms "first" and "second," etc., used in the specification and claims of this application are used to distinguish different objects, not to describe a specific order of objects. For example, "first target object" and "second target object," etc., are used to distinguish different target objects, not to describe a specific order of target objects.

[0081] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0082] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0083] To better describe the technical solution of this application, the satellite routing method based on multi-objective optimization of this application is explained below in conjunction with some existing technologies:

[0084] In recent years, various routing algorithms have been proposed for application in satellite communication networks for low Earth orbit satellites. These routing algorithms can be divided into two categories: static routing algorithms and dynamic routing algorithms.

[0085] Static routing algorithms include: virtual topology methods, which discretize the satellite dynamic topology into a series of periodic static virtual topologies. These methods divide the satellite system period into multiple time slices, take a snapshot of the network topology in each time slice, and assume that the topology remains unchanged within the time slice.

[0086] The virtual node method establishes a satellite network model composed of virtual nodes, assigning each virtual node a fixed geographic coordinate, maintaining a one-to-one correspondence with a satellite node at all times. When a satellite moves, the virtual node corresponding to the satellite changes according to the mapping relationship between virtual nodes and satellite nodes.

[0087] The coverage area partitioning method divides the Earth's surface into multiple cells at equal intervals, with each cell served by the nearest satellite. Due to the Earth's rotation and satellite motion, each satellite using this strategy needs to update the network topology information. Before forwarding data, the source satellite needs to calculate the corresponding destination satellite based on the geographic coordinates of the destination node. Its essential difference from the virtual node method lies in the mode of constructing the virtual network: the virtual node strategy constructs a virtual network independent of the Earth's rotation and unrelated to the Earth's geographical location.

[0088] The demand island approach categorizes demands based on their geographical attributes, dividing them into autonomous demand islands. The network architecture assumes a one-to-many approach, where demands can be associated with any gateway. Furthermore, the geographical area assigned to each island is a rectangle. This combination of a rectangular map and a single serving gateway results in lower routing algorithm complexity.

[0089] Static routing algorithms leverage the predictability and periodicity of satellite networks to handle dynamic changes in satellite routing topology, assuming that the network topology remains constant over a certain period. However, as satellite constellations grow in size, the increasing demands for computational and storage capacity when processing satellite topology conflict with the limited computing power of satellites. While static routing algorithms can simplify the computational complexity of satellite routing, they are pre-computed, offline routing algorithms that lack the ability to adapt to the dynamics of satellite networks.

[0090] Furthermore, some scholars have proposed dynamic routing algorithms that utilize satellite information acquisition and processing capabilities to obtain the state information of satellites and inter-satellite links (ISLs). Leveraging the predictability of low-Earth orbit satellite network topology, they have introduced the concept of on-demand routing and designed the Location-Assisted On-Demand Routing (LAOR) protocol to determine the routing path based on the shortest latency. When a network failure occurs, the path is updated during the link switching cycle. However, uneven load distribution on inter-satellite links can lead to performance degradation in satellite networks. To ensure better distribution of traffic between satellites, an explicit load balancing scheme (ELB, Elastic Load Balance) has been proposed to avoid satellite congestion and packet loss.

[0091] While dynamic routing algorithms can change routes in real time according to network conditions, are highly adaptable, and have a good way of handling network congestion and other problems, the link information exchange of these methods will generate a large overhead, and as the network scale increases, the computational resource overhead caused by routing calculation will become larger and larger.

[0092] As one embodiment of this application, this embodiment obtains the operational status information of a satellite communication network; based on the operational status information, the satellites in the satellite communication network are divided into at least two stable satellite clusters; topological abstraction is performed on each stable satellite cluster to obtain a cluster time-varying map corresponding to the satellite communication network; a target transmission path is generated based on the cluster time-varying map, and satellite routing is performed based on the target transmission path. Thus, this application divides the satellites in the satellite communication network into multiple stable satellite clusters. Since the intra-cluster links of satellite clusters remain stable, while the inter-cluster links between satellite clusters change dynamically, this solves the problem of excessively large satellite communication network scale, thereby reducing the problem of excessive computational resource overhead during satellite routing. Simultaneously, since a static routing method is not used, the routing path can be adaptively adjusted according to the dynamic changes in the inter-cluster links between satellite clusters, ensuring the adaptability of the multi-objective optimization-based satellite routing method of this application.

[0093] Reference Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the satellite routing method based on multi-objective optimization in this application.

[0094] like Figure 1 As shown in the figure, this application provides a satellite routing method based on multi-objective optimization, which includes the following steps:

[0095] Step S100: Obtain the operational status information of the satellite communication network;

[0096] In this embodiment, it should be noted that the satellite communication network can be a communication network composed of multiple low-Earth orbit satellites. The operational status information may include satellite status such as the direction of flight and latitude of the satellites in the satellite communication network, as well as link status such as the establishment time, duration, and link attribute parameters of the inter-satellite links between the satellites.

[0097] Step S200: Based on the operating status information, divide the satellites in the satellite communication network into at least two stable satellite clusters;

[0098] In this embodiment, it should be noted that the stable satellite cluster is a group of satellites in the satellite communication network whose inter-satellite links are stable and can communicate with each other.

[0099] Additionally, it should be noted that in low-Earth orbit (LEO) satellite networks, satellites can be categorized into ascending and descending satellites based on their orbital direction. Ascending satellites are those that orbit in the direction of increasing latitude, while descending satellites are those that orbit in the direction of decreasing latitude. Because inter-satellite links between ascending and descending satellites can be unstable, to ensure stable inter-satellite links and fixed relative positions within a cluster, satellites within the same stable satellite cluster orbit in the same direction.

[0100] Furthermore, it should be noted that the inter-satellite communication capability between satellites also needs to consider the line-of-sight (LOS) distance. Therefore, all satellites within a stable satellite cluster are within the line-of-sight distance.

[0101] As an example, satellites in the satellite communication network can be divided into ascending satellites and descending satellites based on their direction of travel. Then, the ascending and descending satellites are each divided according to a preset line-of-sight distance to obtain at least two stable satellite clusters. The division according to the preset line-of-sight distance can be achieved by determining a corresponding segmentation distance based on the preset line-of-sight distance, where the segmentation distance is less than the preset line-of-sight distance. Then, the ascending and descending satellites can be divided according to the segmentation distance to obtain at least two stable satellite clusters. It is understood that the area occupied by each of the generated stable satellite clusters can be the same size or different.

[0102] As another example, satellites in the satellite communication network can be divided into ascending satellites and descending satellites based on their direction of travel. Then, based on their latitude, the ascending satellites are first divided into at least one first latitude partition, and the descending satellites are divided into at least one second latitude partition. Next, the satellites in the first latitude partition are divided according to a preset line-of-sight distance to obtain a first satellite cluster, and the satellites in the second latitude partition are divided according to a preset line-of-sight distance to obtain a second satellite cluster. Finally, the first satellite cluster and the second satellite cluster are used as the stable satellite clusters of the satellite communication network.

[0103] The operational status information includes the orbital directions of the satellites in the satellite communication network. Step S200, which involves dividing the satellites in the satellite communication network into at least two stable satellite clusters based on the operational status information, includes:

[0104] Step S210: According to the direction of travel, the satellites in the satellite communication network are divided into ascending satellites and descending satellites;

[0105] Step S220: Based on a preset line-of-sight distance, the ascending satellites are divided into at least one first satellite cluster, and the descending satellites are divided into at least one second satellite cluster;

[0106] Step S230: The first satellite cluster and the second satellite cluster are designated as stable satellite clusters of the satellite communication network.

[0107] In this embodiment, it should be noted that the operational status information includes the orbital direction of the satellites in the satellite communication network. In a low-Earth orbit satellite network, the distance between satellites in different orbits with the same orbital direction decreases as the latitude of the satellites increases.

[0108] For example, this embodiment divides the satellites in the satellite communication network into ascending satellites and descending satellites according to their operating direction. Since the low-Earth orbit satellite network is dynamically changing, the distances between satellites are also constantly changing. Therefore, this embodiment divides the ascending and descending satellites into satellite clusters of different sizes based on their operating latitudes. The ascending satellites can be divided into at least one first satellite cluster according to a preset line-of-sight distance based on their operating latitude, and the descending satellites can be divided into at least one second satellite cluster according to a preset line-of-sight distance.

[0109] Reference Figure 2 , Figure 2 This is a schematic diagram of a scenario involving a preset viewing distance in the embodiments of this application. Figure 2 This represents the situation where, in a constellation at orbital altitude h, the line connecting satellites S1 and S2 is exactly tangent to the Earth's surface. If the angle between the lines connecting satellites S1 and S2 to the Earth's center is greater than α, it means that satellites S1 and S2 are not within the line of sight, and the line-of-sight distance d between satellites S1 and S2 is denoted as ∞. The angle α can be calculated using the following formula:

[0110] ;

[0111] Where α is the angle between the satellite and the line connecting the Earth's center, R is the Earth's radius, and h is the orbital altitude.

[0112] Furthermore, considering that inter-satellite links pass through the atmosphere and are affected by surface obstacles, the included angle α can also be calculated using the following formula to ensure the communication quality of inter-satellite links:

[0113] ;

[0114] Where τ takes the value of 10km~20km, when τ is 10km and the orbital height h is 550km, the included angle α can be calculated to be 45.8°.

[0115] Therefore, based on a preset line-of-sight distance, the ascending satellites can be divided into at least one first satellite cluster, and the descending satellites can be divided into at least one second satellite cluster. The first satellite cluster and the second satellite cluster can then be used as stable satellite clusters of the satellite communication network.

[0116] The operational status information further includes the operational latitude of the satellites in the satellite communication network. The step of dividing the ascending satellites into at least one first satellite cluster and the descending satellites into at least one second satellite cluster based on a preset line-of-sight distance includes:

[0117] Step S221: Based on the operating latitude, divide the ascending satellite into at least one first latitude partition;

[0118] Step S222: Divide the satellites in the first latitude partition according to the preset line-of-sight distance to obtain the first satellite cluster;

[0119] Step S223: Based on the operating latitude, divide the descending satellite into at least one second latitude partition;

[0120] Step S224: Divide the satellites in the second latitude partition according to the preset line-of-sight distance to obtain the second satellite cluster.

[0121] In this embodiment, the ascending satellite can be divided into at least one first latitude partition according to the operating latitude and a preset latitude type. The preset latitude type is a pre-defined type for dividing the range of the operating latitude. As an example, the preset latitude type can include three latitude types: a first latitude type from 0° to a first latitude limit, a second latitude type from the first latitude limit to a second latitude limit, and a third latitude type from the second latitude limit to 90°, i.e., latitudes in [0°, lat1), [lat1, lat2), and [lat2, 90°]. The values ​​of the first latitude limit lat1 and the second latitude limit lat2 can be determined according to the constellation configuration of the satellite communication network. Furthermore, it should be noted that the size of each first satellite cluster within the first latitude partition is the same, and the size of each second satellite cluster within the second latitude partition is also the same. However, the size of the first satellite clusters in different first latitude partitions may be different, and the size of the second satellite clusters in different second latitude partitions may also be different.

[0122] For example, for satellites in the first latitude partition of the first latitude type [0°, lat1), when dividing the satellites in the first latitude partition according to a preset line-of-sight distance, in order to ensure that satellites in the first satellite cluster can communicate with other satellites at any time, the first endpoint satellite (i.e., the outermost satellite in the first latitude partition) in the first latitude partition can be obtained when it reaches the endpoint value corresponding to the preset latitude type. Based on the preset line-of-sight distance, the corresponding first satellite cluster can be determined. For example, all satellites within the preset line-of-sight distance can be considered as one first satellite cluster, or all satellites within a preset segmentation distance can be considered as one first satellite cluster, wherein the preset segmentation distance is less than the preset line-of-sight distance to leave a certain margin to ensure the stability of inter-satellite links among satellites in the first satellite cluster. Then, the satellite closest to the first satellite cluster in a preset specified azimuth (e.g., east, west) in the first latitude partition is used as a new first endpoint satellite and divided again according to the preset line-of-sight distance to obtain another first satellite cluster, until all satellites in the first latitude partition are divided.

[0123] Similarly, for satellites in the second latitude partition of the second latitude type [0°, lat1), when dividing the satellites in the second latitude partition according to a preset line-of-sight distance, in order to ensure that satellites in the second satellite cluster can communicate with other satellites at any time, the second endpoint satellite (i.e., the outermost satellite in the second latitude partition) can be obtained when it reaches the endpoint value corresponding to the preset latitude type. Based on the preset line-of-sight distance, the corresponding second satellite cluster can be determined. For example, all satellites within the preset line-of-sight distance can be considered as one second satellite cluster, or all satellites within a preset segmentation distance can be considered as one second satellite cluster, wherein the preset segmentation distance is less than the preset line-of-sight distance to leave a certain margin to ensure the stability of inter-satellite links among satellites in the second satellite cluster. Then, the satellite closest to the second satellite cluster in a preset specified azimuth (e.g., east, west) in the second latitude partition is used as a new second endpoint satellite and divided again according to the preset line-of-sight distance to obtain another second satellite cluster, until all satellites in the second latitude partition are divided.

[0124] Taking the preset latitude types including [0°, lat1), [lat1, lat2), and [lat2, 90°] as an example, when the first latitude partition is of the first latitude type, the farthest satellite within a preset line-of-sight distance of the first endpoint satellite in the first latitude partition when it reaches 0° can be obtained. Therefore, the size of the corresponding first satellite cluster is determined based on the satellites between the first endpoint satellite and the farthest satellite (i.e., all satellites between the endpoint satellite and the farthest satellite can be considered as one first satellite cluster). Similarly, when the second latitude partition is of the second latitude type, the second farthest satellite within a preset line-of-sight distance of the second endpoint satellite in the second latitude partition when it reaches 0° can be obtained. Therefore, the size of the corresponding second satellite cluster is determined based on the satellites between the second endpoint satellite and the farthest satellite (i.e., all satellites between the endpoint satellite and the farthest satellite can be considered as one second satellite cluster).

[0125] Similarly, when the first latitude partition is a second latitude type [lat1, lat2) or a third latitude type [lat2, 90°), the first endpoint satellite can be determined to be the farthest satellite within the preset line-of-sight distance of lat1 or lat2 based on a preset line-of-sight distance. Thus, the corresponding first satellite cluster is determined based on the first endpoint satellite and the second farthest satellite. When the second latitude partition is a second latitude type [lat1, lat2) or a third latitude type [lat2, 90°), the second endpoint satellite can be determined to be the second farthest satellite within the preset line-of-sight distance of lat1 or lat2 based on a preset line-of-sight distance. Thus, the corresponding second satellite cluster is determined based on the second endpoint satellite and the second farthest satellite.

[0126] In addition, the central satellite of each stable satellite cluster can be selected as the cluster head satellite.

[0127] Taking the Walker constellation with orbital 72, 22 satellites per orbit, a constellation altitude of 550km, an orbital inclination of 53°, and a phase factor of 1 as an example of a satellite communication network, since the satellites only fly between 60°N and 60°S, the preset latitude types include two types: [0°, lat1) and [lat1, 60°]. Because the distance between satellites within the same orbit does not change significantly, for both cases, the farthest satellite within the preset line-of-sight distance of the endpoint satellite in the same orbit can be determined, which is always separated by one satellite. However, the distance between satellites in different orbits changes dynamically. When the latitude partition (i.e., the first or second latitude partition) is [0°, lat1), the corresponding endpoint satellite (i.e., the corresponding first or second endpoint satellite) at 0° can communicate with satellites up to 7 orbital planes away. Therefore, the size of the stable satellite cluster within this latitude partition is 8*2. When the latitude partition is [lat1, 60°], in order to ensure that the size of the stable satellite clusters within this latitude partition is the same, it can be calculated that when lat1 is 40°, the endpoint satellite can communicate with satellites up to 11 orbital planes away. Therefore, the size of the stable satellite clusters within this latitude partition is 12*2. The preset latitude types include two types: [0°, 40°) and [40°, 60°].

[0128] Step S300: Perform topological abstraction on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network;

[0129] In this embodiment, it should be noted that the topology abstraction is a way of abstracting the satellite communication network by using the satellites in each of the stable satellite clusters in a topological manner.

[0130] For example, the stable satellite clustering may include a cluster head satellite and at least one intra-cluster satellite. Then, the cluster head satellite and intra-cluster satellites in the stable satellite cluster can be treated as intra-cluster nodes and connected according to the inter-satellite links between these intra-cluster nodes to generate an intra-cluster network. Then, the cluster head satellites in each of the stable satellite clusters can be treated as inter-cluster nodes and connected according to the inter-satellite links between these inter-cluster nodes to generate a time-varying inter-cluster network. Finally, the intra-cluster network and the time-varying inter-cluster network are concatenated to obtain the cluster time-varying map corresponding to the satellite communication network.

[0131] Furthermore, it is understood that in this embodiment, topology abstraction can be performed first, followed by clustering. As an example, steps S200 to S300 can be: performing topology abstraction on the satellite communication network to obtain a corresponding network time-varying graph; dividing the network time-varying graph according to the operating status information to obtain a cluster time-varying graph corresponding to the satellite communication network, wherein the cluster time-varying graph includes at least two stable satellite clusters.

[0132] The stable satellite clusters include cluster head satellites and intra-cluster satellites. Step S300, which involves topological abstraction of each stable satellite cluster to obtain a cluster time-varying map corresponding to the satellite communication network, includes:

[0133] Step S310: The cluster head satellite and the satellites within the stable satellite cluster are taken as cluster nodes and connected according to the inter-satellite links between the cluster nodes to generate an intra-cluster network.

[0134] Step S330: The cluster head satellites in each of the stable satellite clusters are taken as inter-cluster nodes and connected according to the inter-satellite links between the inter-cluster nodes to generate a time-varying inter-cluster network.

[0135] Step S330: The intra-cluster network and the time-varying inter-cluster network are spliced ​​together to obtain the cluster time-varying map corresponding to the satellite communication network.

[0136] In this embodiment, it should be noted that the stable satellite clustering includes cluster head satellites and intra-cluster satellites as intra-cluster nodes. Each intra-cluster satellite has a maximum of four inter-satellite links, which are established with two adjacent intra-cluster satellites in the same orbit and two intra-cluster satellites in adjacent orbits. In addition to the inter-satellite links established with intra-cluster satellites, the cluster head satellite also communicates with inter-satellite links established with other stable satellite cluster head satellites. It can be understood that a stable satellite cluster head satellite has a maximum of eight inter-satellite links, including four intra-cluster inter-satellite links for connecting with intra-cluster satellites, and a maximum of four inter-cluster inter-satellite links. These inter-satellite head satellites establish inter-satellite links with two adjacent stable satellite cluster head satellites in the same orbit and two stable satellite cluster head satellites in adjacent orbits.

[0137] As an example, a ground-orbiting satellite network consisting of M orbital planes, each with N satellites, is used as the satellite communication network in this embodiment. After clustering and topological abstraction of the satellite communication network, a clustered time-varying graph is obtained. ,in This represents the set of satellite nodes in a satellite communication network. This represents the inter-satellite links between satellite nodes. It will change over time and can be recorded as Inter-satellite links , Indicates the establishment time of the inter-satellite link. Indicates the duration of the inter-satellite link. This refers to link attribute parameters, which are attribute parameters corresponding to the target service type. The target service type is a pre-set attribute parameter that needs optimization, such as latency and throughput. However, the inter-satellite links between the cluster head satellites in each stable satellite cluster are unstable. Therefore, the inter-satellite links between cluster head satellites... Establishment time in and duration It changes over time. Understandably, the inter-satellite links between satellites within a stable satellite cluster are stable and continuous; therefore, the inter-satellite links between satellites within a cluster can be considered... Establishment time in and duration Nothing changes, except for the creation time. For reference only, duration It can be seen as .

[0138] Therefore, in this embodiment, the cluster head satellites and intra-cluster satellites in the stable satellite clusters are treated as intra-cluster nodes, and connected according to the inter-satellite links between these intra-cluster nodes to generate an intra-cluster network. The cluster head satellites in each stable satellite cluster are treated as inter-cluster nodes, and connected according to the inter-satellite links between these inter-cluster nodes to generate a time-varying inter-cluster network. Then, the intra-cluster network and the time-varying inter-cluster network are concatenated to obtain the cluster time-varying map corresponding to the satellite communication network.

[0139] Step S400: Generate a target transmission path based on the clustered time-varying map, and perform satellite routing based on the target transmission path.

[0140] In this embodiment, a user's satellite routing command can be received. This command includes a starting satellite node and a target satellite node, which are satellite nodes in the clustered time-varying graph. Then, in response to the satellite routing command, a target transmission path from the starting satellite node to the target satellite node is generated based on the clustered time-varying graph. Satellite routing is then performed based on this target transmission path.

[0141] As an example, when the starting satellite node and the target satellite node are in the same stable satellite cluster in the cluster time-varying graph, a path traversal can be performed from the starting satellite node to the target satellite node for the stable satellite cluster where the starting satellite node and the target satellite node are located, to obtain the first shortest path from the starting satellite node to the target satellite node, and the first shortest path is used as the target transmission path.

[0142] As another example, when the starting satellite node and the target satellite node are not in the same stable satellite cluster in the clustering time-varying graph, the starting cluster head satellite in the stable satellite cluster where the starting satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located, can be obtained. Within the stable satellite cluster where the starting satellite node is located, traversing from the starting satellite node to the starting cluster head satellite yields a first shortest intra-cluster path; within the inter-cluster network of the clustering time-varying graph, traversing from the starting cluster head satellite to the target cluster head satellite yields a first shortest inter-cluster path; within the stable satellite cluster where the target satellite node is located, traversing from the target cluster head satellite to the target satellite node yields a second shortest intra-cluster path. The first shortest intra-cluster path, the first shortest inter-cluster path, and the second shortest intra-cluster path are sequentially concatenated to obtain the target transmission path.

[0143] As another example, the starlink attribute parameters corresponding to each satellite node in the clustered time-varying graph are obtained, where each starlink attribute parameter includes attribute parameters corresponding to the target service type, such as end-to-end latency and data processing capability. Then, based on the clustered time-varying graph, a target transmission path is generated with each starlink attribute parameter as the optimization objective, and satellite routing is performed based on the target transmission path. Thus, according to different target service types, corresponding target transmission paths can be adaptively generated based on the clustered time-varying graph and each starlink attribute parameter. For example, different weights can be assigned to each starlink attribute parameter according to different target service types, or the clustered time-varying graph and each starlink attribute parameter can be input into a neural network model corresponding to the target service type to obtain the corresponding target transmission path.

[0144] One embodiment of this application provides a satellite routing method based on multi-objective optimization. This method involves acquiring operational status information of a satellite communication network; dividing the satellites in the network into at least two stable satellite clusters based on this information; performing topological abstraction on each stable satellite cluster to obtain a cluster time-varying map corresponding to the satellite communication network; generating a target transmission path based on the cluster time-varying map; and performing satellite routing based on the target transmission path. By dividing the satellites in the satellite communication network into multiple stable satellite clusters, this application addresses the problem of excessively large satellite communication network scale, as intra-cluster links remain stable while inter-cluster links dynamically change. This reduces the computational resource overhead during satellite routing. Furthermore, since static routing is not used, the routing path can be adaptively adjusted to reflect the dynamic changes in inter-cluster links, ensuring the adaptability of the multi-objective optimization-based satellite routing method.

[0145] Reference Figure 3 , Figure 3 This is a flowchart illustrating a second embodiment of the satellite routing method based on multi-objective optimization in this application.

[0146] like Figure 3 As shown, the second embodiment of this application provides a satellite routing method based on multi-objective optimization. Step S400, which involves generating a target transmission path based on the clustered time-varying map and performing satellite routing based on the target transmission path, includes:

[0147] Step A10: In response to the satellite routing instruction, obtain the star chain attribute parameters corresponding to each satellite node in the clustered time-varying graph, wherein the satellite routing instruction includes the starting satellite node and the target satellite node;

[0148] Step A20: Based on the cluster time-varying map, and using the starlink attribute parameters as optimization targets, generate the target transmission path from the starting satellite node to the target satellite node based on preset attribute consistency.

[0149] Step A30: Based on the target transmission path, control the satellite communication network to perform the satellite routing operation corresponding to the satellite routing command.

[0150] In this embodiment, it can be understood that the satellite routing instruction includes a starting satellite node and a target satellite node, which are satellite nodes in the clustered time-varying graph. Each of the starlink attribute parameters includes attribute parameters corresponding to the target service type, such as end-to-end latency and data processing capability. The end-to-end latency includes propagation latency, transmission latency, and queuing latency. The end-to-end latency can be expressed by the following formula:

[0151]

[0152] Where t is the end-to-end delay, d represents the transmission distance between satellite nodes, c represents the speed of light, and p represents the size of the transmitted data packet. This represents the size of the satellite node's buffer queue, and r represents the transmission rate. When the target service type is a low-latency service, the end-to-end latency of the target transmission path should be minimized. However, it is understandable that, to ensure normal data transmission, the Starlink attribute parameter of data processing capability also needs to be considered.

[0153] The data processing capacity is defined by the buffer size of the satellite nodes. Since the buffer queue size of the nodes changes dynamically during data transmission, a similar approach to most network load balancing methods can be adopted, using an M / M / 1 queuing model to capture data from the satellites. This queuing model indicates that the probability of data arriving at the node follows a Poisson distribution, and the node processes the data according to an exponential distribution. The data processing capacity can be expressed by the following formula:

[0154]

[0155] in, This indicates the rate at which data enters the satellite node. The rate at which data leaves the satellite node. This indicates the size of the satellite node's buffer queue. This indicates the upper limit of the satellite node's buffer. The data processing capacity is related to the available buffer of the next-hop satellite node, where the inbound rate ρ can be adjusted according to the geographical location of the satellite node. When the target service type is a high-throughput service, the throughput of the target transmission path should be maximized. However, it is understandable that, in order to ensure normal data transmission, the Starlink attribute parameter of end-to-end latency also needs to be considered.

[0156] Furthermore, considering the link bandwidth size, since the required bandwidth varies for different services, the remaining bandwidth of the selected inter-satellite link should be greater than the minimum bandwidth required by QoS (Quality of Service).

[0157] For example, each of the Starlink attribute parameters includes end-to-end latency and data processing capability. The cluster time-varying graph... The link attribute parameters for each edge (and inter-satellite link) are set as (end-to-end delay (t), data processing capability (a)). When expanding the link attribute parameters, the delay attribute parameter (t) is directly added to the delay attribute parameters (t) of the path, while the data processing capability is expanded by comparing the data processing capability values ​​(a) and selecting the minimum value. For example, the delay-data processing capability attribute set corresponding to the link attribute parameters. and The extended attribute set is Preset attribute consistency means that the extended attribute sets obtained by expanding the link attribute parameters of two inter-satellite links are relatively preferred and will not change when expanded by the link attribute parameters of a third inter-satellite link. For example, preset attribute consistency means that the extended attribute sets of two inter-satellite links are respectively... and ,like Better than (or worse than) Then there must be a link attribute parameter of the third inter-satellite link. When expanding, expand the property set. Still superior to (or inferior to) extended attribute sets .

[0158] If the extended attribute set of inter-satellite links does not meet the preset attribute consistency, the optimal extended attribute set for inter-satellite links, i.e., the optimal target output path, may not be selected. For example, when the extended attribute set of inter-satellite links... and When making comparisons, if or At that time, Superior When the link attribute parameters of a third inter-satellite link are extended, the relative preference of the link attributes may change, such as... hour, Superior ,like At that time, there are link attribute parameters for a third inter-satellite link. satisfy ,but The extended attribute set is , The extended attribute set is It can be seen that the extended attribute set is... Superior It can be seen that before being expanded by the link attribute parameters of the third inter-satellite link, the expanded attribute set... Superior During route calculation, the attribute set is expanded. The path will be deleted, and the link attribute parameters of the inter-satellite link will be selected instead. The path it is on, but after being expanded by the link attribute parameters of the third inter-satellite link, the extended attribute set... and The relative preferences have changed, thus expanding the attribute set in the route calculation. The extended path is lost, meaning that this method may lose the optimal path when calculating the target transmission path.

[0159] Therefore, to ensure the consistency of preset attributes, routing calculations are performed based on the clustered time-varying diagram and the attribute parameters of each starlink to obtain an extended attribute set. When comparing the extended attribute sets, two extended attribute sets need to be compared simultaneously; only when two link attribute parameters in the extended attribute sets are consistent will a comparison be made. Both are superior to two link attribute parameters in another extended attribute set. At that time, that is At that time, expand the property set Only the attribute set that is considered superior is considered superior. In other cases, the two extended attribute sets are considered incomparable. Both extended attribute sets are preserved during route calculation, so that the relative preference between link attributes is not changed during extension.

[0160] As an example, when performing routing calculations based on the clustered time-varying diagram and using the starlink attribute parameters as optimization targets, the initial satellite node is used as the starting point for expansion, resulting in a first expanded attribute set and a second expanded attribute set. It is then determined whether the first expanded attribute set is superior to the second expanded attribute set. If the first expanded attribute set is superior, the first expanded attribute set is retained, and expansion is performed again starting from the first expanded attribute set to obtain a new first expanded attribute set and a new second expanded attribute set. The step of determining whether the first expanded attribute set is superior to the second expanded attribute set is then executed. Therefore, for any third satellite node's link attribute parameters... The third extended attribute set obtained after expansion Superior to the fourth extended attribute set Because of the first extended attribute set Superior to the second extended attribute set mean ,but ;if ,but , ,if ,but Therefore, in both cases, the first extended attribute set The third extended attribute set obtained by the expansion is superior to the second extended attribute set. The attributes of the fourth extended attribute set are expanded. If the second extended attribute set is superior to the first extended attribute set, the second extended attribute set is retained, and expansion is performed starting from the second extended attribute set to obtain a new first extended attribute set and a new second extended attribute set. The step of determining whether the first extended attribute set is superior to the second extended attribute set is then executed. If the first extended attribute set is not superior to the second extended attribute set, and the second extended attribute set is not superior to the first extended attribute set, expansion is performed starting from the first extended attribute set and the second extended attribute set respectively to obtain a new first extended attribute set and a new second extended attribute set. The step of determining whether the first extended attribute set is superior to the second extended attribute set is then executed. This process continues until the target satellite node is reached, resulting in a new first extended attribute set and a new second extended attribute set. The step of determining whether the first extended attribute set is superior to the second extended attribute set is then executed. If the first extended attribute set is superior to the second extended attribute set, the inter-satellite link corresponding to the first extended attribute set is used as the dominant path. If the second extended attribute set is superior to the first extended attribute set, the inter-satellite link corresponding to the second extended attribute set is used as the dominant path. If the first extended attribute set is not superior to the second extended attribute set, and the second extended attribute set is not superior to the first extended attribute set, then the inter-satellite links corresponding to the first and second extended attribute sets are respectively used as different dominant paths. Then, at least one of the dominant paths can be used as the target transmission path, thereby controlling the satellite communication network to perform satellite routing operations corresponding to the satellite routing command based on the target transmission path, to achieve satellite routing based on multi-objective optimization.

[0161] The step A20, which involves generating a target transmission path from the starting satellite node to the target satellite node based on the cluster time-varying map, using the starlink attribute parameters as optimization targets and a preset attribute consistency, includes:

[0162] Step B10: When the starting satellite node and the target satellite node are located in the same stable satellite cluster in the cluster time-varying map, based on the cluster time-varying map, and using the star chain attribute parameters as optimization targets, at least one dominant path from the starting satellite node to the target satellite node is generated based on preset attribute consistency.

[0163] Step B20: The dominant path is used as the target transmission path from the starting satellite node to the target satellite node.

[0164] See Figure 4 , Figure 4 This is a schematic diagram of an intra-cluster network scenario involved in the embodiments of this application. Figure 4The image shows the intra-cluster network when the inter-satellite link establishment time ts=0. The intra-cluster network includes intra-cluster nodes S11, S12, S21, S22, S31, and S32. The lines connecting the intra-cluster nodes represent the inter-satellite links between them. The values ​​in parentheses next to these lines are link attribute parameters (inter-satellite link establishment time ts, inter-satellite link duration td, end-to-end delay t, and data processing capability a). For example, if the starting satellite node is intra-cluster node S11 and the target satellite node is intra-cluster node S32, the paths from intra-cluster node S11 to adjacent intra-cluster nodes S12 and S21 are first calculated based on the cluster time-varying diagram and the star link attribute parameters, resulting in extended attribute sets (60, 12) and (90, 10). Then, the path from intra-cluster node S12 to adjacent intra-cluster node S22 is calculated. The paths from cluster node S12 to cluster node S22 are S11-S12-S22 and S11-S21-S22, with extended attribute sets of (135, 10) = (90+45, min(10, 13)) and (145, 12) = (60+85, min(12, 13)), respectively. Comparing the two extended attribute sets, 1350 < 1450 and 10 < 12, the inter-satellite links corresponding to both extended attribute sets are retained as the dominant paths. Then, the paths from cluster node S21 to adjacent cluster nodes S22 and S31 are calculated. The path from cluster node S21 to cluster node S22 remains unchanged. The path from cluster node S21 to cluster node S31 has the extended attribute set of S11-S21-S31 as (110, 10) = (60+500, min(12, 10)). Next, calculate the paths from cluster node S31 to the adjacent cluster node S32. The extended attribute sets of S11-S12-S22-S32 and S11-S21-S22-S32 are (183, 9) = (135+480, min(10, 9)) and (193, 9) = , respectively. (145+48, min(10, 9)), it can be seen that S11-S12-S22-S32 is the dominant path. At this point, when continuing to calculate the path from cluster node S32 to the adjacent cluster node, the resulting extended attribute set will not change. That is, the dominant path from cluster node S11 to cluster node S32 is now obtained. Since the end-to-end latency is the shortest and the data processing capability (i.e., the highest throughput) in the extended attribute set corresponding to this dominant path is the highest, this dominant path can be used as the target transmission path from the starting satellite node to the target satellite node. Furthermore, when there are at least two dominant paths, the dominant path corresponding to the extended attribute set can be selected according to the different target service types.For example, when the target service type is a low-latency service, the path with the lower end-to-end latency attribute among the dominant roads is taken as the dominant road corresponding to the target service type. When the target service type is a high-throughput service, the path with the higher data processing capability attribute among the dominant roads is taken as the dominant road corresponding to the target service type.

[0165] The step A20, which involves generating a target transmission path from the starting satellite node to the target satellite node based on the cluster time-varying map, using the starlink attribute parameters as optimization targets and a preset attribute consistency, further includes:

[0166] Step C10: When the starting satellite node and the target satellite node are not located in the same stable satellite cluster in the cluster time-varying map, obtain the starting cluster head satellite in the stable satellite cluster where the starting satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located.

[0167] Step C20: Based on the cluster time-varying map, and using the starlink attribute parameters as optimization targets, generate a first dominant path from the starting satellite node to the starting cluster head satellite, a second dominant path from the starting cluster head satellite to the target cluster head satellite, and a third dominant path from the target cluster head satellite to the target satellite node based on preset attribute consistency.

[0168] Step C30: Connect the first dominant path, the second dominant path, and the third dominant path in sequence to generate the target transmission path from the starting satellite node to the target satellite node.

[0169] In this embodiment, it should be noted that different stable satellite clusters in the cluster time-varying graph communicate with each other through the inter-satellite links of the cluster head satellites of the stable satellite clusters.

[0170] See Figure 5 , Figure 5 This is a schematic diagram of an inter-cluster network scenario involved in the embodiments of this application. Figure 5The figure shows the inter-cluster network at the time ts = 0 when the inter-satellite link is established. The inter-cluster network includes cluster head satellites C11, C12, C13, C14, C15, C16, C17, C18, C19, and C20. The connections between the cluster head satellites represent the inter-satellite links between the cluster head satellites. The values in the parentheses next to the connections are the link attribute parameters (the establishment time ts of the inter-satellite link and the duration td of the inter-satellite link). Each cluster head satellite will select the nearest cluster head satellites in four different directions as the candidate next-hop satellite nodes, that is, it can establish links with these four nearest cluster head satellites. Since the inter-satellite links between clusters are unstable, the short-term stability of the inter-satellite links between the cluster head satellites can be judged according to the link attribute parameters. Exemplarily, if the sum of the data output time ts and the data transmission duration t1 of the cluster head satellite is less than the sum of the establishment time ts and the duration td (ts + t1 < ts + td), it can be determined that the inter-satellite link between the cluster head satellites is short-term stable, and the following steps are executed: when the start satellite node and the target satellite node are not in the same stable satellite cluster in the time-varying clustering graph, obtain the start cluster head satellite in the stable satellite cluster where the start satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located.

[0171] As an example, the satellite routing based on multi-objective optimization between the start satellite node s and the target satellite node d is divided into three cases (hereinafter, CHs represents the cluster head satellite of the stable satellite cluster where the start satellite node s is located, and CHd represents the cluster head satellite of the stable satellite cluster where the target satellite node d is located):

[0172] If the start satellite node s and the target satellite node d are in the same stable satellite cluster, according to the time-varying clustering graph, using each of the star link attribute parameters as the optimization objective, a target transmission path from the start satellite node s to the target satellite node d is generated based on the preset attribute consistency.

[0173] If the start satellite node s and the target satellite node d are not in the same stable satellite cluster, and the target satellite node d is a cluster head satellite, according to the time-varying clustering graph, using each of the star link attribute parameters as the optimization objective, a first path from the start satellite node to the cluster head satellite CHs and a second path from the cluster head satellite CHs to the target satellite node d are generated based on the preset attribute consistency; the first path and the second path are spliced to obtain the target transmission path from the start satellite node s to the target satellite node d.

[0174] If the starting satellite node s and the target satellite node d are not in the same stable satellite cluster, and the target satellite node d is not a cluster head satellite, then based on the cluster time-varying map, using the starlink attribute parameters as optimization targets, a third path from the starting satellite node to the cluster head satellite CHs, a fourth path from the cluster head satellite CHs to the cluster head satellite CHd, and a fifth path from the cluster head satellite CHd to the target satellite node d are generated based on preset attribute consistency. The third, fourth, and fifth paths are then concatenated to obtain the target transmission path from the starting satellite node s to the target satellite node d.

[0175] In the second embodiment of the present invention, in response to a satellite routing command, the corresponding starlink attribute parameters between each satellite node in the clustered time-varying graph are obtained, wherein the satellite routing command includes a starting satellite node and a target satellite node; based on the clustered time-varying graph, using each starlink attribute parameter as an optimization target, a target transmission path from the starting satellite node to the target satellite node is generated based on preset attribute consistency; according to the target transmission path, the satellite communication network is controlled to perform the satellite routing operation corresponding to the satellite routing command. Thus, the preset attribute consistency ensures that during the process of expanding each starlink attribute parameter to generate an expanded attribute set during routing calculation, the optimal expanded attribute set can be obtained, thereby determining the corresponding optimal path as the target transmission path from the starting satellite node to the target satellite node. Furthermore, by comparing multiple starlink attribute parameters, the adaptability to different service types is improved.

[0176] Furthermore, to illustrate the effects of the embodiments of this application, corresponding simulation experiments are also designed in this application. First, a tilted circular orbit constellation (Walker constellation) is deployed. The satellites in the tilted circular orbit constellation operate at the same orbital altitude and at the same angle to the equatorial plane. The ascending nodes of the orbital planes are uniformly distributed within the equatorial plane, and the satellites are uniformly distributed within each orbit. The tilted circular orbit constellation can be completely described by a set of ternary parameters, namely T / P / F. Wherein, T is the total number of satellites in the constellation network; P is the number of orbital planes; and F is the phase factor, taking values ​​of [0, P - 1], which determines the phase difference between satellites on adjacent orbital planes. The simulation parameters for the simulation experiments in this application are shown in Table 1 below.

[0177] Table 1 Simulation Parameters

[0178]

[0179] T / P / F were set to 1584 / 22 / 1 respectively. Other main simulation parameters are shown in Table 1. Since each stable satellite cluster's satellite nodes pass through the cluster head satellite when transmitting data to other stable satellite clusters, the buffer size of the cluster head satellite is set to a fraction of the buffer size of the satellite nodes in its stable satellite cluster. times, The maximum number of satellite nodes within a stable satellite cluster can be chosen to reduce the risk of congestion in the cluster head satellite. Based on these simulation parameter settings, five paths were selected for simulation in this application.

[0180] The dominant paths of the routing methods were compared based on three aspects: average end-to-end latency, packet delivery rate, and system throughput. The selected dominant paths are as follows:

[0181] (1) Delay-Sensitive (DS): The transmission path corresponding to delay-sensitive services (i.e., low-latency services).

[0182] (2) High-throughput type (Throughput-Sensitive, TS): The path corresponding to high-throughput services;

[0183] (3) Compare the paths calculated by the Clustering Shortest Path First (CSPF) algorithm based on the clustered time-varying graph.

[0184] Reference Figure 6 , Figure 6 This is a schematic diagram of the first simulation experiment involved in the embodiment of this application. Figure 5 In the diagram, the horizontal axis represents the data generation rate, and the vertical axis represents the average end-to-end latency. Figure 5 The relationship between average end-to-end latency and data generation rate is shown. Average end-to-end latency increases with the data generation rate (i.e., network load). The figure shows that the DS path has the lowest latency, and its performance in handling low-latency services meets the expected optimization results. Compared to the TS path, the CSPF path only considers transmission distance and not node buffering, i.e., it only considers propagation latency and not queuing latency. The TS path seeks a longer transmission distance to maximize data processing capacity, thus having a larger propagation latency and a smaller queuing latency. Compared to the TS path, the latency of the CSPF path is related to the network congestion level. In this simulation, queuing latency has a greater impact, resulting in a higher latency for the CSPF path.

[0185] Reference Figure 7 , Figure 7 This is a schematic diagram of the second simulation experiment involved in the embodiment of this application. Figure 6In the diagram, the horizontal axis represents the data generation rate, and the vertical axis represents the group delivery rate. Figure 6 This demonstrates the relationship between packet delivery rate and data generation rate. The main reason for the decrease in packet delivery rate is that as the data generation rate increases, the satellite's buffer queue gradually becomes occupied, and more and more packets cannot be processed in a timely manner, resulting in an increased packet loss rate. To minimize this situation, data should be transmitted via paths with high data processing capacity. Figure 7 Simulation results confirm this: the TS path has the highest packet delivery rate, and its selection of a path with high data processing capacity reduces the probability of packet loss, demonstrating performance in handling packet delivery services in line with expected optimization results. The CSPF path, on the other hand, has the lowest delivery rate because it does not consider the buffer size of each satellite along the path.

[0186] Reference Figure 8 , Figure 8 This is a schematic diagram of the third simulation experiment involved in the embodiment of this application. Figure 8 In the diagram, the horizontal axis represents the data generation rate, and the vertical axis represents the throughput of the satellite communication network. Figure 3 This demonstrates the relationship between throughput and data generation rate; throughput increases as the generation rate increases. From Figure 8 As can be seen, because the TS path considers the impact of network traffic load on path selection, it can alleviate the buffer overflow problem caused by increasing network load. Therefore, the TS path has the highest throughput, and its performance in handling high-throughput services meets the expected optimization results. The DS path is second, as it considers queuing latency (i.e., node buffer size) when optimizing latency, so its throughput is higher than the CSPF path.

[0187] See Figure 9 , Figure 9 This is a schematic diagram of the structure of a satellite routing device based on multi-objective optimization involved in the embodiments of this application. Figure 9 As shown in the figure, this application provides a satellite routing device based on multi-objective optimization, the satellite routing device based on multi-objective optimization includes:

[0188] The acquisition module 10 is used to acquire the operating status information of the satellite communication network;

[0189] Clustering module 20 is used to divide the satellites in the satellite communication network into at least two stable satellite clusters according to the operating status information;

[0190] Topology module 30 is used to perform topological abstraction on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network;

[0191] The routing module 40 is used to generate a target transmission path based on the clustered time-varying map and to perform satellite routing based on the target transmission path.

[0192] Optionally, the operational status information includes the orbital direction of satellites in the satellite communication network. The clustering module 20 is further used for:

[0193] Based on the stated direction of flight, the satellites in the satellite communication network are divided into ascending satellites and descending satellites;

[0194] Based on a preset line-of-sight distance, the ascending satellites are divided into at least one first satellite cluster, and the descending satellites are divided into at least one second satellite cluster;

[0195] The first satellite cluster and the second satellite cluster are used as the stable satellite clusters of the satellite communication network.

[0196] Optionally, the operational status information also includes the operational latitude of the satellites in the satellite communication network. The clustering module 20 is further used for:

[0197] Based on the operating latitude, the ascending satellite is divided into at least one first latitude partition;

[0198] The satellites in the first latitude partition are divided according to a preset line-of-sight distance to obtain the first satellite cluster;

[0199] Based on the operating latitude, the descending satellite is divided into at least one second latitude partition;

[0200] The satellites in the second latitude partition are divided according to a preset line-of-sight distance to obtain a second satellite cluster.

[0201] Optionally, the topology module 30 is also used for:

[0202] The cluster head satellite and satellites within the stable satellite cluster are used as cluster nodes, and the cluster nodes are connected according to the inter-satellite links to generate an intra-cluster network.

[0203] The cluster head satellites in each of the stable satellite clusters are used as inter-cluster nodes, and the inter-satellite links between the inter-cluster nodes are connected to generate a time-varying inter-cluster network.

[0204] By splicing the intra-cluster network and the time-varying inter-cluster network, a clustered time-varying map corresponding to the satellite communication network is obtained.

[0205] Optionally, the routing module 40 is also used for:

[0206] In response to a satellite routing instruction, the corresponding star chain attribute parameters between each satellite node in the clustered time-varying graph are obtained, wherein the satellite routing instruction includes the starting satellite node and the target satellite node;

[0207] Based on the cluster time-varying diagram, and using the starlink attribute parameters as optimization targets, a target transmission path from the starting satellite node to the target satellite node is generated based on preset attribute consistency.

[0208] Based on the target transmission path, the satellite communication network is controlled to perform the satellite routing operation corresponding to the satellite routing command.

[0209] Optionally, the routing module 40 is also used for:

[0210] When the starting satellite node and the target satellite node are located in the same stable satellite cluster in the cluster time-varying map, based on the cluster time-varying map, and using the star chain attribute parameters as optimization targets, at least one dominant path from the starting satellite node to the target satellite node is generated based on preset attribute consistency.

[0211] The dominant path is used as the target transmission path from the starting satellite node to the target satellite node.

[0212] Optionally, the routing module 40 is also used for:

[0213] When the starting satellite node and the target satellite node are not located in the same stable satellite cluster in the cluster time-varying map, the starting cluster head satellite in the stable satellite cluster where the starting satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located are obtained.

[0214] Based on the cluster time-varying diagram, and taking the star chain attribute parameters as optimization targets, a first dominant path from the starting satellite node to the starting cluster head satellite, a second dominant path from the starting cluster head satellite to the target cluster head satellite, and a third dominant path from the target cluster head satellite to the target satellite node are generated based on preset attribute consistency.

[0215] The first dominant path, the second dominant path, and the third dominant path are connected sequentially to generate the target transmission path from the starting satellite node to the target satellite node.

[0216] like Figure 10 As shown, Figure 10 This is a schematic diagram of the structure of a satellite routing device based on multi-objective optimization involved in the embodiments of this application.

[0217] For example, the satellite routing device based on multi-objective optimization can be a low-Earth orbit satellite, a PC (Personal Computer), a tablet computer, a portable computer, or a server.

[0218] like Figure 10As shown, the satellite routing device based on multi-objective optimization may include: a processor 1001, such as a CPU; a communication bus 1002; a user interface 1003; a network interface 1004; and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen, an input unit such as a touchscreen, or a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be high-speed RAM or non-volatile memory, such as a disk drive. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0219] Those skilled in the art will understand that Figure 10 The device structure shown does not constitute a limitation on the multi-objective optimization-based satellite routing device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0220] like Figure 10 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and a satellite routing application based on multi-objective optimization.

[0221] exist Figure 10 In the device shown, the processor 1001 can be used to call the satellite routing application based on multi-objective optimization stored in the memory 1005 and execute the operations of the satellite routing method based on multi-objective optimization as described in the above embodiments.

[0222] Furthermore, this application also proposes a computer storage medium storing a computer program. When the computer program is executed by a processor, it implements the operations in the satellite routing method based on multi-objective optimization provided in the above embodiments. The specific steps will not be described in detail here.

[0223] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity / operation / object from another, and do not necessarily require or imply any such actual relationship or order between these entities / operations / objects; the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0224] For the apparatus embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and relevant details can be found in the description of the method embodiments. The apparatus embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separate. Some or all of the modules can be selected according to actual needs to achieve the purpose of this application. Those skilled in the art can understand and implement this without any creative effort.

[0225] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0226] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, vehicle, or network device, etc.) to execute the satellite routing method based on multi-objective optimization described in the various embodiments of this application.

[0227] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A satellite routing method based on multi-objective optimization, characterized in that, The satellite routing method based on multi-objective optimization includes the following steps: To obtain operational status information of satellite communication networks; Based on the operational status information, the satellites in the satellite communication network are divided into at least two stable satellite clusters; Topological abstraction is performed on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network; In response to satellite routing instructions, obtain the star chain attribute parameters corresponding to each satellite node in the clustered time-varying graph, wherein the satellite routing instructions include the starting satellite node and the target satellite node; Based on the cluster time-varying diagram, and using the starlink attribute parameters as optimization targets, a target transmission path from the starting satellite node to the target satellite node is generated based on preset attribute consistency. The preset attribute consistency means that the relative superiority or inferiority relationship of the extended attribute sets obtained by the two inter-satellite links remains unchanged after being extended by a third inter-satellite link. Only when the end-to-end latency of an extended attribute set is shorter and the data processing capability is stronger is the extended attribute set determined to be superior. All other extended attribute sets are determined to be incomparable and are retained. Based on the target transmission path, control the satellite communication network to perform the satellite routing operation corresponding to the satellite routing command; The step of generating a target transmission path from the starting satellite node to the target satellite node based on the cluster time-varying map, using the starlink attribute parameters as optimization targets and based on preset attribute consistency, further includes: When the starting satellite node and the target satellite node are not located in the same stable satellite cluster in the cluster time-varying map, the starting cluster head satellite in the stable satellite cluster where the starting satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located are obtained. Based on the cluster time-varying diagram, and taking the star chain attribute parameters as optimization targets, a first dominant path from the starting satellite node to the starting cluster head satellite, a second dominant path from the starting cluster head satellite to the target cluster head satellite, and a third dominant path from the target cluster head satellite to the target satellite node are generated based on preset attribute consistency. The first dominant path, the second dominant path, and the third dominant path are connected sequentially to generate the target transmission path from the starting satellite node to the target satellite node.

2. The satellite routing method based on multi-objective optimization as described in claim 1, characterized in that, The operational status information includes the orbital directions of the satellites in the satellite communication network. The step of dividing the satellites in the satellite communication network into at least two stable satellite clusters based on the operational status information includes: Based on the stated direction of flight, the satellites in the satellite communication network are divided into ascending satellites and descending satellites; Based on a preset line-of-sight distance, the ascending satellites are divided into at least one first satellite cluster, and the descending satellites are divided into at least one second satellite cluster; The first satellite cluster and the second satellite cluster are used as the stable satellite clusters of the satellite communication network.

3. The satellite routing method based on multi-objective optimization as described in claim 2, characterized in that, The operational status information also includes the operational latitude of the satellites in the satellite communication network. The step of dividing the ascending satellites into at least one first satellite cluster and the descending satellites into at least one second satellite cluster based on a preset line-of-sight distance includes: Based on the operating latitude, the ascending satellite is divided into at least one first latitude partition; The satellites in the first latitude partition are divided according to a preset line-of-sight distance to obtain the first satellite cluster; Based on the operating latitude, the descending satellite is divided into at least one second latitude partition; The satellites in the second latitude partition are divided according to a preset line-of-sight distance to obtain a second satellite cluster.

4. The satellite routing method based on multi-objective optimization as described in claim 1, characterized in that, The stable satellite clusters include cluster head satellites and intra-cluster satellites. The step of performing topological abstraction on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network includes: The cluster head satellite and satellites within the stable satellite cluster are used as cluster nodes, and the cluster nodes are connected according to the inter-satellite links to generate an intra-cluster network. The cluster head satellites in each of the stable satellite clusters are used as inter-cluster nodes, and the inter-satellite links between the inter-cluster nodes are connected to generate a time-varying inter-cluster network. By splicing the intra-cluster network and the time-varying inter-cluster network, a clustered time-varying map corresponding to the satellite communication network is obtained.

5. The satellite routing method based on multi-objective optimization as described in claim 1, characterized in that, The step of generating a target transmission path from the starting satellite node to the target satellite node based on the cluster time-varying map, using the starlink attribute parameters as optimization targets and based on preset attribute consistency, includes: When the starting satellite node and the target satellite node are located in the same stable satellite cluster in the cluster time-varying map, based on the cluster time-varying map, and using the star chain attribute parameters as optimization targets, at least one dominant path from the starting satellite node to the target satellite node is generated based on preset attribute consistency. The dominant path is used as the target transmission path from the starting satellite node to the target satellite node.

6. A satellite routing device based on multi-objective optimization, characterized in that, The satellite routing device based on multi-objective optimization includes: The acquisition module is used to acquire operational status information of the satellite communication network; The clustering module is used to divide the satellites in the satellite communication network into at least two stable satellite clusters based on the operating status information. The topology module is used to perform topological abstraction on each of the stable satellite clusters to obtain the cluster time-varying map corresponding to the satellite communication network; A routing module is used to generate a target transmission path based on the clustered time-varying map and to perform satellite routing based on the target transmission path. Specifically, the routing module is used to respond to satellite routing instructions by obtaining the corresponding star chain attribute parameters between each satellite node in the clustered time-varying map, wherein the satellite routing instructions include a starting satellite node and a target satellite node; based on the clustered time-varying map, using each star chain attribute parameter as an optimization target, and generating a target transmission path from the starting satellite node to the target satellite node based on preset attribute consistency, wherein the preset attribute consistency means that the relative superiority or inferiority relationship of the extended attribute sets obtained by extending two inter-satellite links remains unchanged after being extended by a third inter-satellite link; only when the end-to-end latency of an extended attribute set is shorter and the data processing capability is stronger is the extended attribute set determined to be superior, and the remaining extended attribute sets are determined to be incomparable and are all retained; and according to the target transmission path, controlling the satellite communication network to perform the satellite routing operation corresponding to the satellite routing instructions. Specifically, the routing module is further configured to: when the starting satellite node and the target satellite node are not located in the same stable satellite cluster in the clustering time-varying map, obtain the starting cluster head satellite in the stable satellite cluster where the starting satellite node is located, and the target cluster head satellite in the stable satellite cluster where the target satellite node is located; based on the clustering time-varying map, using each of the starlink attribute parameters as optimization targets, generate a first dominant path from the starting satellite node to the starting cluster head satellite, a second dominant path from the starting cluster head satellite to the target cluster head satellite, and a third dominant path from the target cluster head satellite to the target satellite node based on preset attribute consistency; and sequentially connect the first dominant path, the second dominant path, and the third dominant path to generate a target transmission path from the starting satellite node to the target satellite node.

7. A satellite routing device based on multi-objective optimization, characterized in that, The satellite routing device based on multi-objective optimization includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the steps of the satellite routing method based on multi-objective optimization as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a satellite routing program based on multi-objective optimization, which, when executed by a processor, implements the steps of the satellite routing method based on multi-objective optimization as described in any one of claims 1 to 5.

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