Method and apparatus for interference avoidance for non-geostationary constellation based on dynamic beam hopping

Abstract

The present disclosure provides a dynamic beam hopping based non-geostationary satellite constellation interference avoidance method and device, relates to the technical field of satellite communication, and aims to achieve satellite load balancing in the case of avoiding interference. The method comprises the following steps: in each scheduling period, acquiring system parameters and service requirements of each first user terminal of a first system; for each first non-geostationary satellite, determining an interference anchor terminal of the first non-geostationary satellite from second user terminals according to the system parameters; determining first user terminals located in different cells with the interference anchor terminal of the first non-geostationary satellite as service candidate terminals of the first non-geostationary satellite; taking balancing the loads of each first non-geostationary satellite as the target, determining target user terminals served by each first non-geostationary satellite in the next scheduling period from the service candidate terminals of each first non-geostationary satellite according to the service requirements of each first user terminal.

Description

Technical Field

[0001] This disclosure relates to the field of satellite communication technology, and in particular to an interference avoidance method and apparatus for a non-stationary orbit constellation based on dynamic beam skipping. Background Technology

[0002] In recent years, the construction of non-geostationary satellite orbit (NGSO) constellations has surged, with many NGSO satellite networks applying for the same frequency bands, including the mainstream Ku and Ka bands as well as the Q / V bands with larger bandwidths. This has inevitably led to frequency coexistence among NGSO networks. Therefore, how to ensure efficient service transmission while avoiding interference with other NGSO systems in the face of limited spectrum resources is a current research challenge. Summary of the Invention

[0003] In view of the above problems, this disclosure provides an interference avoidance method and apparatus for a non-stationary orbital constellation based on dynamic hopping beams, so as to overcome the above problems or at least partially solve the above problems.

[0004] A first aspect of this disclosure provides an interference avoidance method based on a dynamic beam-hopping non-stationary orbit constellation, the method comprising:

[0005] In each scheduling cycle, system parameters and service requirements of each first user terminal of the first system are obtained. The system parameters include: position information of each first non-geostationary orbit satellite of the first system, position information of each second non-geostationary orbit satellite of the second system, position information of each first user terminal, position information of each second user terminal of the second system, and interference angle threshold.

[0006] For each of the first non-geostationary orbit satellites, based on the location information of each of the second user terminals, the location information of the first non-geostationary orbit satellites, the location information of each of the second non-geostationary orbit satellites, and the interference angle threshold, the interference anchor terminal of the first non-geostationary orbit satellite is determined from the second user terminals.

[0007] The first user terminal located in a different cell from the interference anchor terminal of the first non-geostationary orbit satellite is identified as a service candidate terminal of the first non-geostationary orbit satellite.

[0008] With the goal of balancing the load of each first non-geostationary orbit satellite, and based on the service requirements of each first user terminal, the target user terminal served by each first non-geostationary orbit satellite in the next scheduling cycle is determined from the service candidate terminals of each first non-geostationary orbit satellite. Here, one first user terminal is served by one first non-geostationary orbit satellite, and the load of the first non-geostationary orbit satellite is the total service requirements of the first user terminals served by the first non-geostationary orbit satellite.

[0009] Information about the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle is sent to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can perform service transmission based on the information, and each of the first user terminals can perform service reception based on the information.

[0010] Optionally, the system parameters further include: the number of beams, channel bandwidth, and SINR of each of the first non-geostationary orbit satellites, and the number of hop beam slots included in the next scheduling cycle;

[0011] After determining the target user terminal served by each of the first non-geostationary orbit satellites in the next scheduling cycle, the method further includes:

[0012] For each of the first non-geostationary orbit satellites, a target cell and the number of target cells are determined based on the target user terminal of the first non-geostationary orbit satellite, wherein the target cell is the cell where the target user terminal is located;

[0013] Based on the service requirements of the target user terminals included in each target cell, determine the total service requirements of each target cell;

[0014] Based on the channel bandwidth and SINR of the first non-geostationary orbit satellite, and the number of hop beam slots included in the next scheduling period, Shannon's theorem is used to determine the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in each hop beam slot of the next scheduling period. The target channel capacity includes unknown hop beam decision variables, which characterize whether the first non-geostationary orbit satellite illuminates each target cell in each hop beam slot of the next scheduling period.

[0015] Based on the target channel capacity provided by the first non-geostationary satellite for each target cell in each hop beam slot of the next scheduling cycle, and the total service demand of each target cell, the service satisfaction of each target cell in the next scheduling cycle is obtained.

[0016] When the number of target cells illuminated by the first non-geostationary satellite in each hop beam slot does not exceed the number of beams, the hop beam decision variables are solved with the objective of maximizing the total service satisfaction of the multiple target cells. The total service satisfaction of the multiple target cells is the quotient of the sum of the service satisfaction of each target cell in the next scheduling cycle and the number of target cells.

[0017] Based on the aforementioned beam hopping decision variables, determine the beam hopping time schedule;

[0018] The step of sending information about the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle to each of the first non-geostationary orbit satellites and each of the first user terminals includes:

[0019] The hopping beam timing schedule is sent to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can transmit services according to the hopping beam timing schedule, and each of the first user terminals can receive services according to the hopping beam timing schedule.

[0020] Optionally, determining the interference anchor point terminal of the first non-geostationary orbit satellite from the second user terminals based on the location information of each second user terminal, the location information of the first non-geostationary orbit satellite, the location information of each second non-geostationary orbit satellite, and the interference angle threshold includes:

[0021] Based on the location information of each second user terminal, the location information of the first non-geostationary orbit satellite, and the location information of each second non-geostationary orbit satellite, the connection between each second user terminal and each second non-geostationary orbit satellite, and the connection between each second user terminal and the first non-geostationary orbit satellite are determined.

[0022] For each second user terminal, if the angle between the line connecting the second user terminal to any second non-geostationary orbit satellite and the line connecting the second user terminal to the first non-geostationary orbit satellite is less than the interference angle threshold, the second user terminal is determined as the interference anchor terminal of the first non-geostationary orbit satellite.

[0023] Optionally, the step of determining the target user terminal for each first non-geostationary orbit satellite in the next scheduling cycle from the service candidate terminals of each first non-geostationary orbit satellite, with the goal of balancing the load of each first non-geostationary orbit satellite and based on the service needs of each first user terminal, includes:

[0024] Solve the following first-constraint optimization problem P1 to determine the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle:

[0025] P1:

[0026] stC1:

[0027] C2:

[0028] C3:

[0029] Wherein, P1 represents the difference between the load of the first non-geostationary orbit satellite with the largest minimum load and the load of the first non-geostationary orbit satellite with the smallest minimum load; C1 represents the load of the nth first non-geostationary orbit satellite as the sum of the service demands of all the first user terminals served by the first non-geostationary orbit satellite; C2 represents the first user terminals in the interference set that the first non-geostationary orbit satellite does not serve; C3 represents that a first user terminal can only be served by one first non-geostationary orbit satellite.

[0030] a n,u Defined as the service relationship variable between the nth non-geostationary satellite and the uth user, a n,u =0 indicates that the nth first non-geostationary satellite cannot serve the uth first user terminal, a n,u =1 indicates that the nth first non-geostationary orbit satellite can serve the uth first user terminal; S n Characterizes the payload of the nth first non-geostationary orbit satellite; D u V represents the service requirements of the u-th first user terminal, where U represents the number of first user terminals, u = 1, 2, ..., U; n The set of interferences representing the nth first non-geostationary orbit satellite; N is the number of first non-geostationary orbit satellites, n = 1, 2, ..., N.

[0031] Optionally, the step of solving the beam hopping decision variables with the objective of maximizing the total service satisfaction of multiple target cells, provided that the number of target cells illuminated by the first non-geostationary satellite in each beam hopping time slot does not exceed the number of beams, includes:

[0032] Solve the following second-constraint optimization problem P2 to determine the beam skipping decision variables:

[0033] P2:

[0034] stC4:

[0035] C5:

[0036] C6:

[0037] C7:

[0038] Wherein, P2 represents maximizing the total service satisfaction of multiple target cells; C4 represents that the service satisfaction of the m-th target cell in the entire scheduling period is the quotient of the total channel capacity provided by the n-th first non-geostationary orbit satellite for the target cell in each time slot of the scheduling period and the total service demand of the target cell; C5 represents that the total service demand of the m-th target cell is the sum of the service demands of each target user terminal in the target cell; C6 represents that the channel capacity provided by the n-th first non-geostationary orbit satellite for the m-th target cell it covers in the t-th hop beam time slot is calculated according to Shannon's theorem; C7 represents that the number of target cells that the n-th first non-geostationary orbit satellite can illuminate in each hop beam time slot does not exceed the number of beams;

[0039] Defined as the hopping beam decision variable for the nth first non-geostationary orbit satellite. This characterizes the nth non-geostationary satellite illuminating the mth target cell it covers in the tth hop beam time slot. The nth non-geostationary satellite does not illuminate the mth target cell it covers in the t-th hopping beam time slot; M is the number of target cells, m = 1, 2, ..., M; β n,m Characterizes the service satisfaction level of the m-th target cell throughout the entire scheduling cycle; D represents the channel capacity provided by the nth non-geostationary satellite in the tth hop beam time slot for the mth target cell it covers; m V represents the total service demand of the m-th target cell; n,m D represents the set of target user terminals of the nth first non-geostationary satellite in the mth target cell. u B represents the service requirements of the u-th first user terminal; B represents the channel bandwidth. The signal-to-interference-plus-noise ratio of the nth non-geostationary satellite in the t-th hop beam time slot with respect to the m-th target cell is represented by T; the scheduling period is represented by K; and the number of beams is represented by K.

[0040] Optionally, the hopping beam timing schedule is: a hopping beam pattern for each hopping beam time slot within a scheduling period, wherein the hopping beam pattern includes: beam pointing, beam frequency, beam bandwidth, and beam transmit power.

[0041] Optionally, the service requirements of the first user terminal include: the bandwidth requirements reported by the first user terminal at the current time, or the service queue length of the first user terminal at the current time.

[0042] A second aspect of this disclosure provides an interference avoidance device based on a dynamic beam-hopping non-stationary orbit constellation, the device comprising:

[0043] The parameter acquisition module is used to acquire system parameters and service requirements of each first user terminal of the first system in each scheduling cycle. The system parameters include: position information of each first non-geostationary orbit satellite of the first system, position information of each second non-geostationary orbit satellite of the second system, position information of each first user terminal, position information of each second user terminal of the second system, and interference angle threshold.

[0044] Anchor point determination module is used to determine the interference anchor point terminal of the first non-geostationary orbit satellite from the second user terminals for each first non-geostationary orbit satellite, based on the position information of each second user terminal, the position information of the first non-geostationary orbit satellite, the position information of each second non-geostationary orbit satellite, and the interference angle threshold.

[0045] The terminal determination module is used to determine the first user terminal, which is located in a different cell from the interference anchor terminal of the first non-geostationary orbit satellite, as a service candidate terminal of the first non-geostationary orbit satellite.

[0046] The target determination module is used to determine the target user terminal served by each first non-geostationary orbit satellite in the next scheduling cycle from the service candidate terminals of each first non-geostationary orbit satellite, with the goal of balancing the load of each first non-geostationary orbit satellite and based on the service needs of each first user terminal. Here, one first user terminal is served by one first non-geostationary orbit satellite, and the load of the first non-geostationary orbit satellite is the total service needs of the first user terminals served by the first non-geostationary orbit satellite.

[0047] The transmitting module is configured to transmit information about the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can perform service transmission based on the information, and each of the first user terminals can perform service reception based on the information.

[0048] Optionally, the system parameters further include: the number of beams, channel bandwidth, and SINR of each of the first non-geostationary orbit satellites, and the number of hop beam slots included in the next scheduling cycle;

[0049] After determining the target user terminal served by each of the first non-geostationary orbit satellites in the next scheduling cycle, the apparatus further includes:

[0050] The quantity determination module is used to determine the target cell and the number of target cells for each of the first non-geostationary orbit satellites, based on the target user terminal of the first non-geostationary orbit satellite, wherein the target cell is the cell where the target user terminal is located;

[0051] The demand determination module is used to determine the total service demand of each target cell based on the service demand of the target user terminals included in each target cell.

[0052] The channel capacity determination module is used to determine the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in the next scheduling period, based on the channel bandwidth and SINR of the first non-geostationary orbit satellite and the number of hop beam slots included in the next scheduling period, using Shannon's theorem. The target channel capacity includes unknown hop beam decision variables, which characterize whether the first non-geostationary orbit satellite illuminates each target cell in each hop beam slot in the next scheduling period.

[0053] The satisfaction level acquisition module is used to obtain the service satisfaction level of each target cell in the next scheduling period based on the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in each hop beam slot of the next scheduling period, and the total service demand of each target cell.

[0054] The solution module is used to solve the beam hopping decision variables with the objective of maximizing the total service satisfaction of multiple target cells, provided that the number of target cells illuminated by the first non-geostationary orbit satellite in each beam hopping time slot does not exceed the number of beams. The total service satisfaction of multiple target cells is: the sum of the service satisfaction of each target cell in the next scheduling cycle, and the quotient of the number of target cells.

[0055] The planning determination module is used to determine the beam hopping time plan based on the beam hopping decision variables;

[0056] The sending module is specifically used for:

[0057] The hopping beam timing schedule is sent to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can transmit services according to the hopping beam timing schedule, and each of the first user terminals can receive services according to the hopping beam timing schedule.

[0058] Optionally, the anchor point determination module is specifically used for:

[0059] Based on the location information of each second user terminal, the location information of the first non-geostationary orbit satellite, and the location information of each second non-geostationary orbit satellite, the connection between each second user terminal and each second non-geostationary orbit satellite, and the connection between each second user terminal and the first non-geostationary orbit satellite are determined.

[0060] For each second user terminal, if the angle between the line connecting the second user terminal to any second non-geostationary orbit satellite and the line connecting the second user terminal to the first non-geostationary orbit satellite is less than the interference angle threshold, the second user terminal is determined as the interference anchor terminal of the first non-geostationary orbit satellite.

[0061] A third aspect of this disclosure provides an electronic device, including: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement the interference avoidance method of a non-stationary orbit constellation based on dynamic beam-hopping as described in the first aspect.

[0062] A fourth aspect of this disclosure provides a computer-readable storage medium that, when executed by a processor of an electronic device, enables the electronic device to perform an interference avoidance method based on a dynamic beam-hopping non-stationary orbit constellation as described in the first aspect.

[0063] The embodiments disclosed herein have the following advantages:

[0064] In this embodiment, based on the location information of each second user terminal, the location information of each first non-geostationary orbit satellite, the location information of each second non-geostationary orbit satellite, and the interference angle threshold, the interference anchor terminal of each first non-geostationary orbit satellite can be determined. Then, the first user terminal not located in the same cell as the interference anchor terminal of the first non-geostationary orbit satellite is determined as the service candidate terminal of that first non-geostationary orbit satellite. Therefore, determining the target user terminal served by the first non-geostationary orbit satellite in the next scheduling cycle from the service candidate terminals of the first non-geostationary orbit satellite ensures that interference avoidance can be achieved between non-geostationary orbit satellites in the next scheduling cycle. By balancing the load of each first non-geostationary orbit satellite, the overall multiple first non-geostationary orbit satellites can achieve efficient service transmission. Therefore, by aiming to balance the load of each first non-geostationary orbit satellite and determining the target user terminal from the service candidate terminals of each first non-geostationary orbit satellite, efficient satellite service transmission is achieved under interference avoidance conditions. Attached Figure Description

[0065] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0066] Figure 1 This is a flowchart illustrating the steps of an interference avoidance method for a non-stationary orbital constellation based on dynamic beam skipping in this embodiment of the present disclosure.

[0067] Figure 2 This is a schematic diagram illustrating the determination of service candidate terminals in an embodiment of this disclosure;

[0068] Figure 3 This is a schematic diagram illustrating an application scenario of an embodiment of this disclosure;

[0069] Figure 4 This is a schematic diagram of the structure of an interference avoidance device based on a dynamic beam-hopping non-stationary orbital constellation in an embodiment of this disclosure. Detailed Implementation

[0070] To make the above-mentioned objectives, features and advantages of this disclosure more apparent and understandable, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0071] Multiple coverage is a key feature of the NGSO constellation, allowing user terminals to simultaneously "see" multiple satellites and be served by different satellites at different times. When some satellites experience co-linear interference with satellites from other systems, services can be provided using non-co-linear satellites, thus avoiding inter-system interference. Furthermore, leveraging the rapid beamforming capabilities of the hopping beam system, NGSO satellite beams can provide time-sharing, on-demand services across different user terminals, and beam pointing can be strategically planned to avoid potential interference.

[0072] Reference Figure 1 The diagram illustrates a flowchart of the interference avoidance method for a non-stationary orbital constellation based on dynamic beam skipping, as shown in this embodiment of the present disclosure. Figure 1 As shown, the interference avoidance method based on the dynamic beam-hopping non-stationary orbit constellation can be applied to the operation and control center of the first system, and may specifically include steps S11 to S15.

[0073] Step S11: In each scheduling cycle, obtain system parameters and the service requirements of each first user terminal of the first system.

[0074] The system parameters include: the position information of each first non-geostationary orbit satellite of the first system, the position information of each second non-geostationary orbit satellite of the second system, the position information of each first user terminal, the position information of each second user terminal of the second system, and the interference angle threshold.

[0075] The first system is the system where the service relationship between non-geostationary orbit satellites and user terminals for the next scheduling cycle needs to be determined. The second system is any one or more other systems different from the first system. To reduce computational load, the second system can be a system where its own satellites are subject to collinear interference with the satellites of the first system. The first non-geostationary orbit satellite is a non-geostationary orbit satellite belonging to the first system, and the first user terminal is a user terminal of the first system; the second non-geostationary orbit satellite is a non-geostationary orbit satellite belonging to the second system, and the second user terminal is a user terminal of the second system.

[0076] The satellite's position information is publicly available, therefore the position information of the first and second non-geostationary orbit satellites can be directly obtained. The operation and control center of the first system can directly obtain the position information of each first user terminal, and the operation and control center of the first system can obtain the position information of each second user terminal from the second system.

[0077] The interference angle threshold can be determined in advance based on experience, experiments, etc. If the angle between the lines connecting two non-geostationary satellites and a user terminal is less than the interference angle threshold, then the inter-beam interference between the two non-geostationary satellites will be significant.

[0078] The service requirements of the first user terminal can be determined based on the bandwidth requirements of the first user terminal at the current time, or based on the service queue length of the first user terminal at the current time.

[0079] Step S12: For each of the first non-geostationary orbit satellites, based on the location information of each of the second user terminals, the location information of the first non-geostationary orbit satellite, the location information of each of the second non-geostationary orbit satellites, and the interference angle threshold, determine the interference anchor terminal of the first non-geostationary orbit satellite from the second user terminals.

[0080] Based on the location information of the second user terminal and the location information of the first non-geostationary orbit satellite, the connection between the second user terminal and the first non-geostationary orbit satellite can be determined; based on the location information of the second user terminal and the location information of the second non-geostationary orbit satellite, the connection between the second user terminal and the second non-geostationary orbit satellite can be determined.

[0081] If the angle between the line connecting a second user terminal to its corresponding second non-geostationary orbit satellite and the line connecting the second user terminal to a first non-geostationary orbit satellite is less than an interference angle threshold, then the second user terminal is an interference anchor terminal for the first non-geostationary orbit satellite. An interference anchor terminal for a first non-geostationary orbit satellite is used to determine the interference set of the first non-geostationary orbit satellite. The interference set of a first non-geostationary orbit satellite includes first user terminals that the first non-geostationary orbit satellite cannot serve. If a first user terminal in the interference set is served by a first non-geostationary orbit satellite, interference may exist.

[0082] Step S13: The first user terminal located in a different cell from the interference anchor terminal of the first non-geostationary orbit satellite is identified as a service candidate terminal of the first non-geostationary orbit satellite.

[0083] Each first user terminal located in the same cell as the interference anchor terminal of the first non-geostationary orbit satellite is considered a terminal in the interference set of that first non-geostationary orbit satellite. For each first non-geostationary orbit satellite, by filtering out terminals in the interference set of that first non-geostationary orbit satellite from among the first user terminals, the serving candidate terminals for that first non-geostationary orbit satellite can be obtained. Each first non-geostationary orbit satellite only serves its own serving candidate terminals, thus achieving interference avoidance. Interference avoidance means that in each beam hop time slot, the interference power of the first non-geostationary orbit satellite's beam to the second user terminal is less than the interference threshold.

[0084] This disclosure refers to the method for determining the service candidate terminal of the first non-geostationary orbit satellite based on the interference anchor point terminal as a beam angle isolation strategy. Optionally, methods including but not limited to progressive pitch strategy and beam power control strategy can also be used to determine the service candidate terminal of the first non-geostationary orbit satellite. The progressive pitch strategy can be achieved by adjusting the attitude angle of the non-geostationary orbit satellite to shift the overall coverage area of ​​the satellite, thereby avoiding collinear interference. The beam power control strategy can be achieved by obtaining the interference threshold of the user terminal and adjusting the beam power of the non-geostationary orbit satellite to make the beam power lower than the interference threshold for the terminal, thereby achieving interference avoidance.

[0085] Figure 2 This is a schematic diagram illustrating the determination of service candidate terminals in this embodiment of the disclosure. The terminal of this system is a first user terminal, the satellite of this system is a first non-geostationary orbit satellite, the terminals of other systems are second user terminals, and the satellites of other systems are second non-geostationary orbit satellites. θ thThe threshold is the interference angle. If the angle between the line connecting a second user terminal to a first non-geostationary orbit satellite and the line connecting the second user terminal to a second non-geostationary orbit satellite is greater than the interference angle threshold, then the second user terminal is not a service candidate terminal. If none of the second user terminals in the cell where the first user terminal is located are interference anchor point terminals for the first non-geostationary orbit satellite, then the first user terminal is a service candidate terminal for the first non-geostationary orbit satellite.

[0086] Step S14: With the goal of balancing the load of each of the first non-geostationary orbit satellites, and based on the service requirements of each of the first user terminals, determine the target user terminal for each of the first non-geostationary orbit satellites to be served in the next scheduling cycle from the service candidate terminals of each of the first non-geostationary orbit satellites.

[0087] In this configuration, one of the first user terminals is served by one of the first non-geostationary orbit satellites, and the load of the first non-geostationary orbit satellite is the total service demand of the first user terminal served by the first non-geostationary orbit satellite.

[0088] The load of the first non-geostationary orbit satellite is the total service demand of the user terminals served by that first non-geostationary orbit satellite. A first user terminal can be a service candidate terminal for multiple first non-geostationary orbit satellites, but a first user terminal can only be served by one first non-geostationary orbit satellite within a scheduling cycle.

[0089] To maximize the overall transmission efficiency of the first system, the load of each first non-geostationary orbit satellite should be balanced. Therefore, with the goal of balancing the load of each first non-geostationary orbit satellite, the target user terminals served by each first non-geostationary orbit satellite in the next scheduling cycle can be determined from the service candidate terminals of each first non-geostationary orbit satellite according to the service needs of each first user terminal.

[0090] Optionally, the goal may be to minimize the mean square error of the load of each first non-geostationary orbit satellite, and based on the service requirements of each first user terminal, the target user terminal for each first non-geostationary orbit satellite to be served in the next scheduling cycle may be determined from the service candidate terminals of each first non-geostationary orbit satellite.

[0091] Optionally, the goal may be to minimize the difference between the load of the first non-geostationary orbit satellite with the largest load and the load of the first non-geostationary orbit satellite with the smallest load, and to determine the target user terminal for each first non-geostationary orbit satellite to be served in the next scheduling cycle from the service candidate terminals of each first non-geostationary orbit satellite according to the service needs of each first user terminal.

[0092] Step S15: Send the information of the target user terminal served by each of the first non-geostationary orbit satellites in the next scheduling cycle to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can perform service transmission based on the information, and each of the first user terminals can perform service reception based on the information.

[0093] Once the target user terminals served by each first non-geostationary orbit satellite in the next scheduling cycle are determined, the service relationships between each first non-geostationary orbit satellite and each first user terminal in the next scheduling cycle are established. These service relationships are then sent to each first non-geostationary orbit satellite and each first user terminal. Each first non-geostationary orbit satellite will transmit services according to the service relationships, and each first user terminal will receive services according to the service relationships.

[0094] By employing the technical solution of this disclosure, based on the location information of each second user terminal, the location information of each first non-geostationary orbit satellite, the location information of each second non-geostationary orbit satellite, and the interference angle threshold, the interference anchor terminal of each first non-geostationary orbit satellite can be determined. Then, the first user terminal not located in the same cell as the interference anchor terminal of the first non-geostationary orbit satellite is determined as the service candidate terminal of that first non-geostationary orbit satellite. Therefore, determining the target user terminal served by the first non-geostationary orbit satellite in the next scheduling cycle from the service candidate terminals of the first non-geostationary orbit satellite ensures that interference avoidance can be achieved between non-geostationary orbit satellites in the next scheduling cycle. Balancing the load of each first non-geostationary orbit satellite allows for efficient overall service transmission. Therefore, by aiming to balance the load of each first non-geostationary orbit satellite and determining the target user terminal from the service candidate terminals of each first non-geostationary orbit satellite, efficient satellite service transmission is achieved under interference avoidance conditions.

[0095] Alternatively, based on the above technical solution, a can be obtained by solving the following first-constraint optimization problem P1. n,u This enables the determination of the target user terminal for each first non-geostationary orbit satellite in the next scheduling cycle, based on the service needs of each first user terminal, while balancing the load of each first non-geostationary orbit satellite.

[0096] P1:

[0097] stC1:

[0098] C2:

[0099] C3:

[0100] Wherein, P1 represents the difference between the load of the first non-geostationary orbit satellite with the largest minimum load and the load of the first non-geostationary orbit satellite with the smallest minimum load; C1 represents the load of the nth first non-geostationary orbit satellite as the sum of the service demands of all the first user terminals served by the first non-geostationary orbit satellite; C2 represents the first user terminals in the interference set that the first non-geostationary orbit satellite does not serve; C3 represents that a first user terminal can only be served by one first non-geostationary orbit satellite.

[0101] a n,u Defined as the service relationship variable between the nth non-geostationary satellite and the uth user, a n,u =0 indicates that the nth first non-geostationary satellite cannot serve the uth first user terminal, a n,u =1 indicates that the nth first non-geostationary orbit satellite can serve the uth first user terminal; S n Characterizes the payload of the nth first non-geostationary orbit satellite; D u V represents the service requirements of the u-th first user terminal, where U represents the number of first user terminals, u = 1, 2, ..., U; n The set of interferences representing the nth first non-geostationary orbit satellite; N is the number of first non-geostationary orbit satellites, n = 1, 2, ..., N.

[0102] Among them, the number of first user terminals and the number of first non-geostationary orbit satellites are system parameters that can be obtained by the operation and control center of the first system.

[0103] As an example, after determining the target user terminals served by each first non-geostationary orbit satellite in the next scheduling cycle, a beam-hopping time plan for the first non-geostationary orbit satellite can be determined while maximizing the overall service satisfaction of each cell served by each first non-geostationary orbit satellite. The beam-hopping time plan is the beam-hopping pattern for each beam-hopping time slot within a scheduling cycle; the beam-hopping pattern includes: beam pointing, beam frequency, beam bandwidth, and beam transmission power; a scheduling cycle includes multiple beam-hopping time slots, such as dozens or hundreds; the beam-hopping time slot represents the shortest dwell time of the beam in the cell. Specifically, determining the beam-hopping time plan for the first non-geostationary orbit satellite may include steps S21 to S26:

[0104] Step S21: For each of the first non-geostationary orbit satellites, determine the target cell and the number of target cells based on the target user terminal of the first non-geostationary orbit satellite, wherein the target cell is the cell where the target user terminal is located.

[0105] The cell where the target user terminal of the first non-geostationary orbit satellite is located is determined as the target cell, and then the number of target cells corresponding to each first non-geostationary orbit satellite can be obtained.

[0106] Step S22: Determine the total service requirements of each target cell based on the service requirements of the target user terminals included in each target cell.

[0107] Step S23: Based on the channel bandwidth and SINR of the first non-geostationary orbit satellite, and the number of hop beam slots included in the next scheduling period, Shannon's theorem is used to determine the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in each hop beam slot of the next scheduling period. The target channel capacity includes unknown hop beam decision variables, which characterize whether the first non-geostationary orbit satellite illuminates each target cell in each hop beam slot of the next scheduling period.

[0108] The number of beams, channel bandwidth, and SINR (Signal to Interference plus Noise Ratio) of each first non-geostationary orbit satellite, as well as the number of hopping beam slots included in the next scheduling cycle, are all system parameters that can be obtained by the operation and control center of the first system. SINR refers to the ratio of the strength of the received useful signal to the strength of the received interference signal (noise and interference).

[0109] Using Shannon's theorem, based on the channel bandwidth, SINR, number of hop beam slots in the next scheduling period of the first non-geostationary orbit satellite, and information on whether each hop beam slot of the first non-geostationary orbit satellite illuminates the target cell in the next scheduling period, the target channel capacity provided by each hop beam slot of the first non-geostationary orbit satellite for the target cell in the next scheduling period can be calculated. In this embodiment, the hop beam decision variable is used to characterize whether each hop beam slot of the first non-geostationary orbit satellite illuminates each target cell in the next scheduling period.

[0110] Once the beam-hopping decision variables are solved, the beam-hopping time schedule can be determined. However, since the beam-hopping decision variables are unknown at this point, it is impossible to accurately calculate the target channel capacity provided by the first non-geostationary satellite for the target cell in each beam-hopping time slot of the next scheduling cycle. Nevertheless, based on mathematical knowledge, the target channel capacity, including the unknown beam-hopping decision variables, can be determined.

[0111] Step S24: Based on the target channel capacity provided by the first non-geostationary satellite for each target cell in each hop beam slot of the next scheduling cycle, and the total service demand of each target cell, obtain the service satisfaction of each target cell in the next scheduling cycle.

[0112] The service satisfaction of a target cell is the ratio of the total channel capacity provided by the first non-geostationary orbit satellite to the total service demand of the target cell. Based on the target channel capacity provided by the first non-geostationary orbit satellite for each beam hop time slot in the next scheduling cycle, the total channel capacity provided by the first non-geostationary orbit satellite for the target cell in the next scheduling cycle can be determined. It is understandable that because the target channel capacity at this time includes unknown beam hop decision variables, the determined total channel capacity also includes unknown beam hop decision variables.

[0113] Step S25: When the number of target cells illuminated by the first non-geostationary satellite in each hop beam time slot does not exceed the number of beams, the hop beam decision variables are solved with the objective of maximizing the total service satisfaction of the multiple target cells. The total service satisfaction of the multiple target cells is the quotient of the sum of the service satisfaction of each target cell in the next scheduling cycle and the number of target cells.

[0114] One beam of a first non-geostationary orbit satellite can illuminate one cell. Therefore, in each beam hop time slot, the number of target cells illuminated by the first non-geostationary orbit satellite does not exceed the number of beams of the first non-geostationary orbit satellite.

[0115] The total service satisfaction of multiple target cells in the next scheduling cycle is the quotient obtained by dividing the sum of the service satisfaction of each target cell in the next scheduling cycle by the number of target cells. The service satisfaction of each target cell in the next scheduling cycle is a value carrying unknown beam hopping decision variables. Therefore, the total service satisfaction of multiple target cells carrying unknown beam hopping decision variables in the next scheduling cycle can be determined.

[0116] By taking the constraint that the number of target cells illuminated by the first non-geostationary orbit satellite in each hop beam slot does not exceed the number of beams of the first non-geostationary orbit satellite, the total service satisfaction of multiple target cells can be solved, and the hop beam decision variables can be solved.

[0117] Step S26: Determine the beam hopping time schedule based on the beam hopping decision variables.

[0118] After determining the beam hopping decision variables, the beam hopping time plan for the next scheduling cycle can be determined. It is understood that the beam hopping time plan includes information such as beam pointing; therefore, the beam hopping time plan for the next scheduling cycle includes the service relationship between each first non-geostationary orbit satellite service and each first user terminal in the next scheduling cycle.

[0119] Furthermore, when sending the information of the target user terminals served by each first non-geostationary orbit satellite in the next scheduling cycle to each first non-geostationary orbit satellite and each first user terminal, a beam-hopping time plan can be sent to each first non-geostationary orbit satellite and each first user terminal, so that each first non-geostationary orbit satellite can transmit services according to the beam-hopping time plan, and each first user terminal can receive services according to the beam-hopping time plan. (Refer to...) Figure 3 Sending the hopping beam timing plan to each of the first non-geostationary orbit satellites and each of the first user terminals means that the ground station connected to the operation and control center transmits the hopping beam timing plan to each of the first non-geostationary orbit satellites through the uplink feeder link, and the first non-geostationary orbit satellites transmit the hopping beam timing plan to each of the first non-geostationary orbit satellites through the downlink user link.

[0120] By employing the technical solution of this disclosure, since the target user terminals for each of the first non-geostationary orbit satellites have been determined, interference avoidance can be guaranteed. The beam hopping decision variables are solved with the objective of maximizing the total service satisfaction of multiple target cells; therefore, maximizing the total service satisfaction of multiple target cells can be achieved while simultaneously achieving interference avoidance.

[0121] Optionally, based on the above technical solution, the beam hopping decision variables can be solved with the objective of maximizing the average of the total service satisfaction of multiple target cells.

[0122] Alternatively, based on the above technical solution, the following second-constraint optimization problem P2 can be solved to obtain the solution. This allows us to solve for the beam hopping decision variables while ensuring that the number of target cells illuminated by the first non-geostationary satellite in each beam hopping time slot does not exceed the number of beams.

[0123] P2:

[0124] stC4:

[0125] C5:

[0126] C6:

[0127] C7:

[0128] Wherein, P2 represents maximizing the total service satisfaction of multiple target cells; C4 represents that the service satisfaction of the m-th target cell in the entire scheduling period is the quotient of the total channel capacity provided by the n-th first non-geostationary orbit satellite for the target cell in each time slot of the scheduling period and the total service demand of the target cell; C5 represents that the total service demand of the m-th target cell is the sum of the service demands of each target user terminal in the target cell; C6 represents that the channel capacity provided by the n-th first non-geostationary orbit satellite for the m-th target cell it covers in the t-th hop beam time slot is calculated according to Shannon's theorem; C7 represents that the number of target cells that the n-th first non-geostationary orbit satellite can illuminate in each hop beam time slot does not exceed the number of beams;

[0129] Defined as the hopping beam decision variable for the nth first non-geostationary orbit satellite. This characterizes the nth non-geostationary satellite illuminating the mth target cell it covers in the tth hop beam time slot. The nth non-geostationary satellite does not illuminate the mth target cell it covers in the t-th hopping beam time slot; M is the number of target cells, m = 1, 2, ..., M; β n,m Characterizes the service satisfaction level of the m-th target cell throughout the entire scheduling cycle; D represents the channel capacity provided by the nth non-geostationary satellite in the tth hop beam time slot for the mth target cell it covers; m Vn,m represents the total service demand of the m-th target cell; Vn,m represents the set of target user terminals of the n-th first non-geostationary satellite in the m-th target cell; Dm represents the total service demand of the m-th target cell. u B represents the service requirements of the u-th first user terminal; B represents the channel bandwidth. The signal-to-interference-plus-noise ratio of the nth non-geostationary satellite in the tth hop beam time slot with respect to the mth target cell is represented by T; the scheduling period is represented by K; the meaning of the remaining characters can be found in the previous text.

[0130] Optionally, based on the above technical solution, after determining the service candidate terminals for each first non-geostationary orbit satellite, the target user terminals and beam hopping schedules for the first non-geostationary orbit satellite can be determined according to different requirements. For example, the goal can be to minimize the service supply and demand difference of the target cell, or to maximize the service throughput, to determine the target user terminals and beam hopping schedules for each first non-geostationary orbit satellite in the next scheduling cycle from the service candidate terminals for each first non-geostationary orbit satellite. When the requirements are different, the target user terminals and beam hopping schedules for each first non-geostationary orbit satellite in the next scheduling cycle can be obtained by solving different constrained optimization problems. Optionally, different algorithms can be used to determine the target user terminals and beam hopping schedules for each first non-geostationary orbit satellite in the next scheduling cycle, including but not limited to heuristic algorithms, convex optimization algorithms, and machine learning algorithms.

[0131] As one embodiment, a certain local area contains 37 cells, in which 30 first user terminals and 7 second user terminals are distributed. The number of first non-geostationary orbit satellites visible above this area is 6, and the number of second system non-geostationary orbit satellites is 5. The maximum number of beams for the first system satellites is 2, and the scheduling period is 30 beam-hopping time slots. The interference avoidance method based on a dynamic beam-hopping non-geostationary orbit constellation proposed in this embodiment is completed through steps S31 to S35.

[0132] Step S31: Every 30 hop beam time slots, the operation control center collects the current positions of the 6 satellites of the first system, the 5 satellites of the second system, the service requirements of 37 cells, and the user channel status.

[0133] Step S32: The operation control center uses a convex optimization algorithm to determine the service relationship between satellites and users in the next scheduling cycle. The goal is to minimize the difference in satellite load while satisfying interference constraints. Specifically, the algorithm uses a beam angle isolation strategy to avoid interference. If the angle between the line connecting the second user terminal i to the second non-geostationary orbit satellite and the line connecting the second user terminal i to the first non-geostationary orbit satellite n is less than the interference angle threshold, then satellite n cannot serve the first user terminal that is in the same cell as the second user terminal i.

[0134] Step S33: The operations control center uses a heuristic algorithm to formulate a hopping beam time plan for each satellite in the next scheduling cycle, i.e., a hopping beam pattern containing 30 time slots. Each hopping beam pattern includes the pointing, frequency, bandwidth, and power of the satellite's two beams. The optimization objective is to maximize the average cell service satisfaction and ensure that the sum of the interference power of all beams from the six satellites in the first system to the seven user terminals in the second system is less than the interference threshold.

[0135] Step S34: The ground station connected to the operation control center sends the hopping beam timing plan to the six first non-geostationary orbit satellites via the uplink feeder link. The first non-geostationary orbit satellites send the hopping beam timing plan to each first user terminal via the downlink user link.

[0136] Step S35: Each first non-geostationary orbit satellite transmits beam-hopping services according to the beam-hopping time plan, and the user terminal receives services according to the beam-hopping time plan.

[0137] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of this disclosure are not limited to the described order of actions, because according to the embodiments of this disclosure, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also understand that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of this disclosure.

[0138] Figure 4 This is a schematic diagram of the structure of an interference avoidance device based on a dynamic beam-hopping non-stationary orbital constellation according to an embodiment of this disclosure, as shown below. Figure 4 As shown, the device includes a parameter acquisition module, an anchor point determination module, a terminal determination module, a target determination module, and a transmission module, wherein:

[0139] The parameter acquisition module is used to acquire system parameters and service requirements of each first user terminal of the first system in each scheduling cycle. The system parameters include: position information of each first non-geostationary orbit satellite of the first system, position information of each second non-geostationary orbit satellite of the second system, position information of each first user terminal, position information of each second user terminal of the second system, and interference angle threshold.

[0140] Anchor point determination module is used to determine the interference anchor point terminal of the first non-geostationary orbit satellite from the second user terminals for each first non-geostationary orbit satellite, based on the position information of each second user terminal, the position information of the first non-geostationary orbit satellite, the position information of each second non-geostationary orbit satellite, and the interference angle threshold.

[0141] The terminal determination module is used to determine the first user terminal, which is located in a different cell from the interference anchor terminal of the first non-geostationary orbit satellite, as a service candidate terminal of the first non-geostationary orbit satellite.

[0142] The target determination module is used to determine the target user terminal served by each first non-geostationary orbit satellite in the next scheduling cycle from the service candidate terminals of each first non-geostationary orbit satellite, with the goal of balancing the load of each first non-geostationary orbit satellite and based on the service needs of each first user terminal. Here, one first user terminal is served by one first non-geostationary orbit satellite, and the load of the first non-geostationary orbit satellite is the total service needs of the first user terminals served by the first non-geostationary orbit satellite.

[0143] The transmitting module is configured to transmit information about the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can perform service transmission based on the information, and each of the first user terminals can perform service reception based on the information.

[0144] Optionally, the system parameters further include: the number of beams, channel bandwidth, and SINR of each of the first non-geostationary orbit satellites, and the number of hop beam slots included in the next scheduling cycle;

[0145] After determining the target user terminal served by each of the first non-geostationary orbit satellites in the next scheduling cycle, the apparatus further includes:

[0146] The quantity determination module is used to determine the target cell and the number of target cells for each of the first non-geostationary orbit satellites, based on the target user terminal of the first non-geostationary orbit satellite, wherein the target cell is the cell where the target user terminal is located;

[0147] The demand determination module is used to determine the total service demand of each target cell based on the service demand of the target user terminals included in each target cell.

[0148] The channel capacity determination module is used to determine the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in the next scheduling period, based on the channel bandwidth and SINR of the first non-geostationary orbit satellite and the number of hop beam slots included in the next scheduling period, using Shannon's theorem. The target channel capacity includes unknown hop beam decision variables, which characterize whether the first non-geostationary orbit satellite illuminates each target cell in each hop beam slot in the next scheduling period.

[0149] The satisfaction level acquisition module is used to obtain the service satisfaction level of each target cell in the next scheduling period based on the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in each hop beam slot of the next scheduling period, and the total service demand of each target cell.

[0150] The solution module is used to solve the beam hopping decision variables with the objective of maximizing the total service satisfaction of multiple target cells, provided that the number of target cells illuminated by the first non-geostationary orbit satellite in each beam hopping time slot does not exceed the number of beams. The total service satisfaction of multiple target cells is: the sum of the service satisfaction of each target cell in the next scheduling cycle, and the quotient of the number of target cells.

[0151] The planning determination module is used to determine the beam hopping time plan based on the beam hopping decision variables;

[0152] The sending module is specifically used for:

[0153] The hopping beam timing schedule is sent to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can transmit services according to the hopping beam timing schedule, and each of the first user terminals can receive services according to the hopping beam timing schedule.

[0154] Optionally, the anchor point determination module is specifically used for:

[0155] Based on the location information of each second user terminal, the location information of the first non-geostationary orbit satellite, and the location information of each second non-geostationary orbit satellite, the connection between each second user terminal and each second non-geostationary orbit satellite, and the connection between each second user terminal and the first non-geostationary orbit satellite are determined.

[0156] For each second user terminal, if the angle between the line connecting the second user terminal to any second non-geostationary orbit satellite and the line connecting the second user terminal to the first non-geostationary orbit satellite is less than the interference angle threshold, the second user terminal is determined as the interference anchor terminal of the first non-geostationary orbit satellite.

[0157] It should be noted that the device embodiments are similar to the method embodiments, so the description is relatively simple. For relevant details, please refer to the method embodiments.

[0158] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0159] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0160] This disclosure describes embodiments of methods, apparatus, electronic devices, and computer program products according to embodiments of this disclosure with reference to flowchart illustrations and / or block diagrams. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0161] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0162] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0163] While preferred embodiments of the present disclosure have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the present disclosure.

[0164] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device 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 terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes the element.

[0165] The above provides a detailed description of the interference avoidance method and apparatus for a non-stationary orbit constellation based on dynamic beam hopping provided by this disclosure. Specific examples have been used to illustrate the principles and implementation methods of this disclosure. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this disclosure. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this disclosure. Therefore, the content of this specification should not be construed as a limitation of this disclosure.

Claims

1. An interference avoidance method based on a dynamic beam-hopping non-stationary orbit constellation, characterized in that, The method includes: In each scheduling cycle, system parameters and service requirements of each first user terminal of the first system are obtained. The system parameters include: position information of each first non-geostationary orbit satellite of the first system, position information of each second non-geostationary orbit satellite of the second system, position information of each first user terminal, position information of each second user terminal of the second system, and interference angle threshold. For each of the first non-geostationary orbit satellites, based on the location information of each of the second user terminals, the location information of the first non-geostationary orbit satellites, the location information of each of the second non-geostationary orbit satellites, and the interference angle threshold, the interference anchor terminal of the first non-geostationary orbit satellite is determined from the second user terminals. The first user terminal located in a different cell from the interference anchor terminal of the first non-geostationary orbit satellite is identified as a service candidate terminal of the first non-geostationary orbit satellite. With the goal of balancing the load of each first non-geostationary orbit satellite, and based on the service requirements of each first user terminal, the target user terminal served by each first non-geostationary orbit satellite in the next scheduling cycle is determined from the service candidate terminals of each first non-geostationary orbit satellite. Here, one first user terminal is served by one first non-geostationary orbit satellite, and the load of the first non-geostationary orbit satellite is the total service requirements of the first user terminals served by the first non-geostationary orbit satellite. Information about the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle is sent to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can perform service transmission based on the information, and each of the first user terminals can perform service reception based on the information.

2. The method according to claim 1, characterized in that, The system parameters also include: the number of beams, channel bandwidth and SINR of each of the first non-geostationary orbit satellites, and the number of hop beam slots included in the next scheduling cycle; After determining the target user terminal served by each of the first non-geostationary orbit satellites in the next scheduling cycle, the method further includes: For each of the first non-geostationary orbit satellites, a target cell and the number of target cells are determined based on the target user terminal of the first non-geostationary orbit satellite, wherein the target cell is the cell where the target user terminal is located; Based on the service requirements of the target user terminals included in each target cell, determine the total service requirements of each target cell; Based on the channel bandwidth and SINR of the first non-geostationary orbit satellite, and the number of hop beam slots included in the next scheduling period, Shannon's theorem is used to determine the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in each hop beam slot of the next scheduling period. The target channel capacity includes unknown hop beam decision variables, which characterize whether the first non-geostationary orbit satellite illuminates each target cell in each hop beam slot of the next scheduling period. Based on the target channel capacity provided by the first non-geostationary satellite for each target cell in each hop beam slot of the next scheduling cycle, and the total service demand of each target cell, the service satisfaction of each target cell in the next scheduling cycle is obtained. When the number of target cells illuminated by the first non-geostationary satellite in each hop beam slot does not exceed the number of beams, the hop beam decision variables are solved with the objective of maximizing the total service satisfaction of the multiple target cells. The total service satisfaction of the multiple target cells is the quotient of the sum of the service satisfaction of each target cell in the next scheduling cycle and the number of target cells. Based on the aforementioned beam hopping decision variables, determine the beam hopping time schedule; The step of sending information about the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle to each of the first non-geostationary orbit satellites and each of the first user terminals includes: The hopping beam timing schedule is sent to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can transmit services according to the hopping beam timing schedule, and each of the first user terminals can receive services according to the hopping beam timing schedule.

3. The method according to claim 1, characterized in that, The step of determining the interference anchor point terminal of the first non-geostationary orbit satellite from the second user terminals based on the location information of each second user terminal, the location information of the first non-geostationary orbit satellite, the location information of each second non-geostationary orbit satellite, and the interference angle threshold includes: Based on the location information of each second user terminal, the location information of the first non-geostationary orbit satellite, and the location information of each second non-geostationary orbit satellite, the connection between each second user terminal and each second non-geostationary orbit satellite, and the connection between each second user terminal and the first non-geostationary orbit satellite are determined. For each second user terminal, if the angle between the line connecting the second user terminal to any second non-geostationary orbit satellite and the line connecting the second user terminal to the first non-geostationary orbit satellite is less than the interference angle threshold, the second user terminal is determined as the interference anchor terminal of the first non-geostationary orbit satellite.

4. The method according to claim 1, characterized in that, The step of balancing the load of each of the first non-geostationary orbit satellites, and determining the target user terminal for each of the first non-geostationary orbit satellites to be served in the next scheduling cycle from the service candidate terminals of each of the first user terminals, includes: Solve the following first-constraint optimization problem P1 to determine the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle: P1: s.t.C1: C2: C3: Wherein, P1 represents the difference between the load of the first non-geostationary orbit satellite with the largest minimum load and the load of the first non-geostationary orbit satellite with the smallest minimum load; C1 represents the load of the nth first non-geostationary orbit satellite as the sum of the service demands of all first user terminals served by that first non-geostationary orbit satellite; C2 represents the first user terminals in the interference set that the first non-geostationary orbit satellite does not serve; C3 represents that a first user terminal can only be served by one first non-geostationary orbit satellite; a n,u Defined as the service relationship variable between the nth non-geostationary satellite and the uth user, a n,u =0 indicates that the nth first non-geostationary satellite cannot serve the uth first user terminal, a n,u =1 indicates that the nth first non-geostationary orbit satellite can serve the uth first user terminal; S n Characterizes the payload of the nth first non-geostationary orbit satellite; D u V represents the service requirements of the u-th first user terminal, where U represents the number of first user terminals, u = 1, 2, ..., U; n The set of interferences representing the nth first non-geostationary orbit satellite; N is the number of first non-geostationary orbit satellites, n = 1, 2, ..., N.

5. The method according to claim 2, characterized in that, When the number of target cells illuminated by the first non-geostationary satellite in each beam hopping time slot does not exceed the number of beams, the beam hopping decision variables are solved with the objective of maximizing the total service satisfaction of multiple target cells, including: Solve the following second-constraint optimization problem P2 to determine the beam skipping decision variables: P2: s.t.C4: C5: C6: C7: Wherein, P2 represents maximizing the total service satisfaction of multiple target cells; C4 represents that the service satisfaction of the m-th target cell in the entire scheduling period is the quotient of the total channel capacity provided by the n-th first non-geostationary orbit satellite for the target cell in each time slot of the scheduling period and the total service demand of the target cell; C5 represents that the total service demand of the m-th target cell is the sum of the service demands of each target user terminal in the target cell; C6 represents that the channel capacity provided by the n-th first non-geostationary orbit satellite for the m-th target cell it covers in the t-th hop beam time slot is calculated according to Shannon's theorem; C7 represents that the number of target cells that the n-th first non-geostationary orbit satellite can illuminate in each hop beam time slot does not exceed the number of beams; Defined as the hopping beam decision variable for the nth first non-geostationary orbit satellite. =1 indicates that the nth non-geostationary satellite illuminates the mth target cell it covers in the tth hop beam time slot. The nth non-geostationary satellite does not illuminate the mth target cell it covers in the t-th hopping beam time slot; M is the number of target cells, m = 1, 2, ..., M; β n,m Characterizes the service satisfaction level of the m-th target cell throughout the entire scheduling cycle; D represents the channel capacity provided by the nth non-geostationary satellite in the tth hop beam time slot for the mth target cell it covers; m V represents the total service demand of the m-th target cell; n,m D represents the set of target user terminals of the nth first non-geostationary satellite in the mth target cell. u B represents the service requirements of the u-th first user terminal; B represents the channel bandwidth. The signal-to-interference-plus-noise ratio of the nth non-geostationary satellite in the t-th hop beam time slot with respect to the m-th target cell is represented by T; the scheduling period is represented by K; and the number of beams is represented by K.

6. The method according to claim 2, characterized in that, The hopping beam timing schedule is: the hopping beam pattern for each hopping beam time slot within a scheduling period, and the hopping beam pattern includes: beam pointing, beam frequency, beam bandwidth and beam transmission power.

7. The method according to any one of claims 1-6, characterized in that, The service requirements of the first user terminal include: the bandwidth requirements reported by the first user terminal at the current moment, or the service queue length of the first user terminal at the current moment.

8. An interference avoidance device based on a dynamic beam-hopping non-stationary orbital constellation, characterized in that, The device includes: The parameter acquisition module is used to acquire system parameters and service requirements of each first user terminal of the first system in each scheduling cycle. The system parameters include: position information of each first non-geostationary orbit satellite of the first system, position information of each second non-geostationary orbit satellite of the second system, position information of each first user terminal, position information of each second user terminal of the second system, and interference angle threshold. Anchor point determination module is used to determine the interference anchor point terminal of the first non-geostationary orbit satellite from the second user terminals for each first non-geostationary orbit satellite, based on the position information of each second user terminal, the position information of the first non-geostationary orbit satellite, the position information of each second non-geostationary orbit satellite, and the interference angle threshold. The terminal determination module is used to determine the first user terminal, which is located in a different cell from the interference anchor terminal of the first non-geostationary orbit satellite, as a service candidate terminal of the first non-geostationary orbit satellite. The target determination module is used to determine the target user terminal served by each first non-geostationary orbit satellite in the next scheduling cycle from the service candidate terminals of each first non-geostationary orbit satellite, with the goal of balancing the load of each first non-geostationary orbit satellite and based on the service needs of each first user terminal. Here, one first user terminal is served by one first non-geostationary orbit satellite, and the load of the first non-geostationary orbit satellite is the total service needs of the first user terminals served by the first non-geostationary orbit satellite. The transmitting module is configured to transmit information about the target user terminals served by each of the first non-geostationary orbit satellites in the next scheduling cycle to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can perform service transmission based on the information, and each of the first user terminals can perform service reception based on the information.

9. The apparatus according to claim 8, characterized in that, The system parameters also include: the number of beams, channel bandwidth and SINR of each of the first non-geostationary orbit satellites, and the number of hop beam slots included in the next scheduling cycle; After determining the target user terminal served by each of the first non-geostationary orbit satellites in the next scheduling cycle, the apparatus further includes: The quantity determination module is used to determine the target cell and the number of target cells for each of the first non-geostationary orbit satellites, based on the target user terminal of the first non-geostationary orbit satellite, wherein the target cell is the cell where the target user terminal is located; The demand determination module is used to determine the total service demand of each target cell based on the service demand of the target user terminals included in each target cell. The channel capacity determination module is used to determine the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in the next scheduling period, based on the channel bandwidth and SINR of the first non-geostationary orbit satellite and the number of hop beam slots included in the next scheduling period, using Shannon's theorem. The target channel capacity includes unknown hop beam decision variables, which characterize whether the first non-geostationary orbit satellite illuminates each target cell in each hop beam slot in the next scheduling period. The satisfaction level acquisition module is used to obtain the service satisfaction level of each target cell in the next scheduling period based on the target channel capacity provided by the first non-geostationary orbit satellite for each target cell in each hop beam time slot of the next scheduling period, and the total service demand of each target cell. The solution module is used to solve the beam hopping decision variables with the objective of maximizing the total service satisfaction of multiple target cells, provided that the number of target cells illuminated by the first non-geostationary orbit satellite in each beam hopping time slot does not exceed the number of beams. The total service satisfaction of multiple target cells is: the sum of the service satisfaction of each target cell in the next scheduling cycle, and the quotient of the number of target cells. The planning determination module is used to determine the beam hopping time plan based on the beam hopping decision variables; The sending module is specifically used for: The hopping beam timing schedule is sent to each of the first non-geostationary orbit satellites and each of the first user terminals, so that each of the first non-geostationary orbit satellites can transmit services according to the hopping beam timing schedule, and each of the first user terminals can receive services according to the hopping beam timing schedule.

10. The apparatus according to claim 8, characterized in that, The anchor point determination module is specifically used for: Based on the location information of each second user terminal, the location information of the first non-geostationary orbit satellite, and the location information of each second non-geostationary orbit satellite, the connection between each second user terminal and each second non-geostationary orbit satellite, and the connection between each second user terminal and the first non-geostationary orbit satellite are determined. For each second user terminal, if the angle between the line connecting the second user terminal to any second non-geostationary orbit satellite and the line connecting the second user terminal to the first non-geostationary orbit satellite is less than the interference angle threshold, the second user terminal is determined as the interference anchor terminal of the first non-geostationary orbit satellite.

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