Resource scheduling method and device for low-orbit satellite communication and navigation integration

Abstract

The present application proposes a resource scheduling method and device for integrated low-orbit satellite communication and navigation, the method comprising: obtaining the user's location information according to the user's service application instructions in a fixed ground area; obtaining the satellite's location information according to the satellite ephemeris information; calculating the GDOP value of each user and all satellite combinations according to the user and satellite's location information, and constructing a priority sequence; performing scheduling planning based on the priority sequence, determining the best set of service satellites for each user, and performing a beamforming design at the transmitting end; returning the scheduling results to the satellite through a feeder link, so that the satellite provides communication and navigation services to the corresponding user according to the scheduling results. The present application suppresses interference between cells through an effective beamforming design, improves the system's data transmission capacity, and controls the network topology within an acceptable range based on reasonable service satellite selection, thereby ensuring the accuracy of positioning and navigation services.

Description

Technical Field

[0001] The present application relates to the field of low-orbit satellite communication technology, and in particular to a resource scheduling method and device for integrating low-orbit satellite communication and navigation. Background Art

[0002] With the rapid development of space technology, many giant low-orbit satellite constellations have emerged, such as Starlink and OneWeb, which not only provide abundant payload, link and terminal resources, but also achieve better communication coverage and more powerful information transmission capabilities. At the same time, the rapidly changing network topology and higher landing power can effectively supplement and enhance the existing navigation system. In this context, the low-orbit satellite network is expected to provide users with integrated communication and navigation services.

[0003] However, most existing communication and navigation systems are designed independently and cannot fully utilize limited resources. In addition, communication and navigation systems often focus on different performance indicators: communication systems aim to achieve information transmission and need to consider signal transmission rate and channel capacity; navigation systems focus on positioning and pay more attention to positioning accuracy and geometric dilution precision (GDOP). Most existing studies only focus on the performance of a single system, so they cannot meet the dual needs of communication and navigation.

[0004] Therefore, how to reasonably schedule limited resources to better provide communication and navigation services to users has become one of the key issues in the current research on low-orbit satellite communication and navigation integration. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0006] To this end, the purpose of this application is to propose a resource scheduling method and device for integrated low-orbit satellite communication and navigation to achieve a balance between communication and navigation performance, that is, to maximize the system's speed and rate while ensuring an acceptable network topology for positioning and navigation.

[0007] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a resource scheduling method for low-orbit satellite communication and navigation integration, including:

[0008] Obtain the user's location information based on the user's service application instructions within the ground fixed area;

[0009] According to the satellite ephemeris information, obtain the satellite position information;

[0010] The GDOP value of each user and all satellite combinations is calculated based on the position information of the user and the satellite, and a priority sequence is constructed;

[0011] Perform scheduling planning based on the priority sequence, determine the best set of service satellites for each user, and perform transmitting end beamforming design;

[0012] The scheduling result is returned to the satellite through a feeder link, so that the satellite provides communication and navigation services to the corresponding user according to the scheduling result.

[0013] Optionally, obtaining the user's location information according to the service application instruction of the user in the fixed ground area includes:

[0014] receiving, through a gateway, a service application instruction from a user in a fixed ground area, wherein the service application instruction is an instruction sent by the user to the gateway to express the user's desire to receive a service, and the service application instruction includes the user's location information;

[0015] Based on the service application instruction, the three-dimensional position coordinate information of the user is obtained.

[0016] Optionally, obtaining the satellite position information according to the satellite ephemeris information includes:

[0017] Receiving satellite ephemeris information through a gateway, wherein the satellite ephemeris information is an expression for describing the position and velocity of a space flight object;

[0018] Based on the satellite ephemeris information, the three-dimensional position coordinate information of the satellite is acquired.

[0019] Optionally, the step of calculating the GDOP value of each user and all satellite combinations according to the position information of the user and the satellite, and constructing a priority sequence, includes:

[0020] Calculate the GDOP value of each user and all satellite combinations based on the position information of the user and the satellite;

[0021] For each user, the calculated GDOP values ​​are arranged in ascending order, where the smaller the GDOP value, the higher the priority and the higher it is in the priority sequence;

[0022] All satellite combinations that do not meet the preset GDOP requirements are removed to obtain the priority sequence of each user.

[0023] Optionally, performing scheduling planning based on the priority sequence, determining an optimal set of service satellites for each user, and performing a transmitting end beamforming design includes:

[0024] Adopting coalition game and determining the service satellite set of each user based on the priority sequence;

[0025] After determining the current satellite selection solution, the beamforming design is performed using the convex difference idea between each satellite and its service users;

[0026] Calculate the alliance benefit under the current satellite selection solution and determine whether it is better. If it is better, trigger alliance switching and update the optimal user service satellite set, beamforming vector, system and rate. Otherwise, the original service satellite set, beamforming vector and optimal system and rate remain unchanged.

[0027] It is determined whether the traversal of all satellite combinations in the priority sequence is completed. If it is completed, the optimal user-satellite service relationship and beamforming vector are finally output, and the system and rate at this time are obtained.

[0028] Optionally, the determining the service satellite set of each user by using coalition game based on the priority sequence includes:

[0029] Construct an alliance game, where the participants of the alliance game are all users and satellites. Each user forms an alliance with multiple satellites and receives integrated communication and navigation services from these satellites. The benefit of the alliance is the sum rate of all users. The alliance that meets the network topology constraints is called a feasible alliance.

[0030] For each user, select the satellite combination with the highest priority in its priority sequence to receive service, determine the initial alliance structure and obtain the initial satellite selection solution;

[0031] Alliance switching is attempted according to the priority sequence, and the serving satellite of each user is adjusted while ensuring an acceptable network topology.

[0032] Optionally, after determining the current satellite selection solution, the beamforming design is performed using the idea of ​​convex difference between each satellite and its service user, including:

[0033] Introducing auxiliary variables, and initializing the auxiliary variables to arbitrary semi-positive definite matrices within an acceptable range;

[0034] The idea of ​​convex difference is used to approximate the original maximization and rate problem and solve it iteratively;

[0035] Calculate the difference between the objective function values ​​of the two iterations and determine whether it is less than or equal to the preset threshold. If so, end the iteration and obtain the optimal solution. Otherwise, return to the previous step and continue the iteration.

[0036] Using rank 1 approximation, the beamforming vector is obtained and the beamforming design is completed.

[0037] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a resource scheduling device for low-orbit satellite communication and navigation integration, including:

[0038] The first acquisition module is used to acquire the user's location information according to the service application instruction of the user in the fixed ground area;

[0039] The second acquisition module is used to acquire the satellite position information according to the satellite ephemeris information;

[0040] A construction module, used to calculate the GDOP value of each user and all satellite combinations according to the position information of the user and the satellite, and to construct a priority sequence;

[0041] A scheduling module, used to perform scheduling planning based on the priority sequence, determine the best set of service satellites for each user, and perform transmitting end beamforming design;

[0042] The service module is used to return the scheduling result to the satellite through the feeder link, so that the satellite provides communication and navigation services to the corresponding users according to the scheduling result.

[0043] To achieve the above-mentioned purpose, the third aspect of the present application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0044] The memory stores computer-executable instructions;

[0045] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects above.

[0046] To achieve the above-mentioned purpose, the fourth aspect embodiment of the present application proposes a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement the method as described in any one of the above-mentioned first aspects.

[0047] The technical solution provided by the embodiments of the present application brings at least the following beneficial effects:

[0048] By applying the technical solution of the present application, on the one hand, effective beamforming design can be used to suppress interference between cells and improve the data transmission capacity of the system; on the other hand, due to the reasonable selection of service satellites, the network topology can be controlled within an acceptable range, thereby ensuring the accuracy of positioning and navigation services, and thus achieving a better balance between communication performance and navigation performance.

[0049] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0051] Figure 1It is a flowchart of a resource scheduling method for integrating low-orbit satellite communication and navigation according to an embodiment of the present application;

[0052] Figure 2 is a flowchart of a priority sequence construction process according to an embodiment of the present application;

[0053] Figure 3 is a schematic diagram of a scheduling planning process according to an embodiment of the present application;

[0054] Figure 4 is a schematic diagram of a beamforming design process according to an embodiment of the present application;

[0055] Figure 5 is a schematic diagram of an application scenario according to the present application;

[0056] Figure 6 It is a structural schematic diagram of a resource scheduling device for low-orbit satellite communication and navigation integration according to an embodiment of the present application;

[0057] Figure 7 It is a block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0058] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0059] The following describes a resource scheduling method and device for integrated low-orbit satellite communication and navigation according to an embodiment of the present application with reference to the accompanying drawings.

[0060] Figure 1 is a flow chart of a resource scheduling method for integrating low-orbit satellite communication and navigation according to an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0061] Step 101, obtaining the user's location information according to the service application instruction of the user in the ground fixed area.

[0062] In the embodiment of the present application, a service application instruction of a user in a fixed ground area is received through a gateway station, and then the three-dimensional position coordinate information of the user is obtained.

[0063] The service application instruction is an instruction sent by the user to the information gateway to express the user's desire to receive services, and contains information such as the user's location.

[0064] In a possible embodiment, consider C ground fixed cells, and the cell set is recorded as For simplicity, only one user to be served is considered in each cell. Therefore, the three-dimensional coordinates of the user position in cell c can be expressed as p c =[x c ,y c ,z c ] T .

[0065] Step 102, obtaining satellite position information based on satellite ephemeris information.

[0066] In the embodiment of the present application, satellite ephemeris information is received through a gateway station, and then the three-dimensional position coordinate information of each satellite is obtained.

[0067] Among them, satellite ephemeris information is an expression used to describe the position and speed of a space flight object.

[0068] In a possible embodiment, consider S low-orbit satellites equipped with uniform planar array (UPA) antennas to provide integrated communication and navigation services for users in the cell. The satellite set is denoted as Therefore, the three-dimensional coordinates p of the satellite s position can be obtained from the ephemeris information s =[x s ,y s ,z s ] T .

[0069] Step 103, calculate the GDOP value of each user and all satellite combinations according to the position information of the users and satellites, and construct a priority sequence.

[0070] In a possible embodiment, Figure 2 As shown, step 103 specifically includes:

[0071] Step 201, calculate the GDOP value of each user and all satellite combinations according to the position information of the users and satellites.

[0072] In an embodiment of the present application, the GDOP value of the satellite combination consisting of each user and all I low-orbit satellites is calculated based on the position information of the user and the satellite.

[0073] Specifically, the GDOP value of user c can be obtained by the following formula:

[0074]

[0075] Among them, G c is a matrix composed of the partial derivatives of the distance measurement between user c and its service satellite relative to the position. For simplicity, the clock error is ignored. At this time, Gc It can be further expressed as:

[0076]

[0077] in, represents the set of service satellites for user c. c ,have d s,c =‖p s -p c ‖2 represents the distance between user c and satellite s.

[0078] Step 202: For each user, the calculated GDOP values ​​are arranged in ascending order.

[0079] It is understandable that in satellite communications, GDOP is an indicator to measure the accuracy of satellite positioning systems. The smaller the GDOP value, the smaller the impact of satellite geometry on positioning accuracy, the higher the positioning accuracy of the system, that is, the higher the priority, and the higher it is in the priority sequence.

[0080] Step 203: remove all satellite combinations that do not meet the preset GDOP requirement to obtain the priority sequence of each user.

[0081] It should be noted that in order to provide users with good positioning and navigation services, the network topology needs to be controlled within an acceptable range.

[0082] Therefore, we set γ as the threshold constraint of GDOP, that is, for any All must meet GDOP c ≤γ, and the satellite combinations that do not meet the requirement are eliminated.

[0083] Step 104, perform scheduling planning based on the priority sequence, determine the best set of service satellites for each user, and perform transmitting end beamforming design.

[0084] In the embodiment of the present application, the process of scheduling planning is as follows Figure 3 As shown, the specific steps include:

[0085] Step 1: Adopt coalition game and determine the service satellite set for each user based on the priority sequence.

[0086] This step can be further divided into step 11, step 12 and step 13.

[0087] Step 11: First, build the alliance game.

[0088] The participants of the alliance game are all users and satellites. Each user forms an alliance with I satellites and receives integrated communication and navigation services from these satellites. The benefit of the alliance is the sum rate of all users, which can be expressed by the following formula:

[0089]

[0090] Among them, R s,c is the data rate received by user c from satellite s.

[0091] Specifically, the signal received by user c from satellite s can be expressed as:

[0092]

[0093] Among them, x s,c h is the integrated communication and navigation signal broadcast by satellite s to user c, s,c is the channel response vector from satellite s to user c, w s,c is the beamforming vector from satellite s to user c, is the noise received by user c.

[0094] Specifically, the channel response vector h from satellite s to user c is s,c It can be expressed as

[0095]

[0096] in, is the free space loss between satellite s and user c, represents the wavelength, is the atmospheric attenuation, N = N x N y N is the number of antenna elements of the UPA equipped on the satellite. x and N y are the number of antenna elements on the x-axis and y-axis, θ s,c is a random phase uniformly distributed on [0,2π), v s,c is the array steering vector of UPA, which can be further expressed as

[0097]

[0098]

[0099] in, and are the steering vectors about the x-axis and y-axis respectively, and and is the angle between the x-axis and the y-axis of the propagation path from satellite s to user c, represents the Kronecker product.

[0100] Specifically, appropriate frequency reuse is used to eliminate inter-satellite interference, and the frequency band is shared between different beams of the same satellite. Therefore, the system only has inter-beam interference, but no inter-satellite interference. At this time, the signal-to-interference-to-noise ratio of user c receiving satellite s service can be expressed as

[0101]

[0102] Furthermore, the data rate received by user c from satellite s can be expressed as

[0103] R s,c =Blog2(1+SINR s,c )

[0104] Where B is the bandwidth allocated to each satellite.

[0105] Furthermore, in the embodiment of the present application, an alliance that satisfies the following topological constraints is called a feasible alliance.

[0106]

[0107] Among them, α s,c is a 0-1 variable, α s,c =1 means user c accepts the service of satellite s, otherwise user c does not accept the service of satellite s. The first equation shows that I satellites are needed to serve each user, and the second equation shows that the GDOP value of each user when receiving satellite service must not exceed γ.

[0108] Step 12: Determine the initial alliance structure according to the priority sequence and obtain the initial star selection solution.

[0109] In the embodiment of the present application, the satellite combination with the highest priority in the priority sequence is selected for each user to receive service, that is, the satellite combination corresponding to the minimum GDOP value of each user, so as to determine the initial alliance structure and obtain the initial satellite selection solution.

[0110] Step 13: Attempt to perform alliance switching according to the priority sequence, and adjust the service satellite of each user while ensuring an acceptable network topology.

[0111] In an embodiment of the present application, for each user, an attempt is made to switch to other satellite combinations in sequence according to the priority sequence to receive services, and the service satellite of each user is adjusted while ensuring an acceptable network topology, so as to improve the system and rate while ensuring an acceptable network topology, thereby obtaining a new satellite selection solution.

[0112] Step 2: After determining the current satellite selection solution, the beamforming design is performed using the idea of ​​convex difference between each satellite and its service users.

[0113] In the embodiment of the present application, the specific flow diagram of step 2 is as follows Figure 4 shown.

[0114] Specifically, step 2 may further include the following steps:

[0115] Step 21: Introduce auxiliary variables and initialize them to any semi-positive definite matrix within an acceptable range.

[0116] As a possible implementation, introduce auxiliary variables And let n = 1, Initialize to any positive semidefinite matrix that satisfies

[0117] Step 22: Use the idea of ​​convex difference to approximate the original maximization and rate problem and solve it iteratively.

[0118] In the embodiment of the present application, the idea of ​​convex difference is used to solve the following optimization problem to determine Q s,c .

[0119]

[0120] in, is the set of service users of satellite s.

[0121] Specifically, the objective function is

[0122] is an approximate expression of the sum rate. This approximation makes the problem of maximizing the sum rate easier to solve.

[0123] Step 23, calculate the difference between the objective function values ​​of the two iterations and determine whether it is less than or equal to a preset threshold. If so, terminate the iteration and obtain the optimal solution. Otherwise, return to the previous step to continue the iteration.

[0124] In the present application embodiment, the calculation And determine whether the satisfaction is less than or equal to a preset threshold δ.

[0125] If it satisfies, the optimal solution is obtained Otherwise update n and At the same time, return to step 22 to continue solving the optimization.

[0126] Step 24: Use rank 1 approximation to obtain the beamforming vector and complete the beamforming design.

[0127] In the embodiment of the present application, the rank 1 approximation is used to obtain the beamforming vector Complete the beamforming design, where λmax and b max They are The maximum eigenvalue of and the eigenvector corresponding to the maximum eigenvalue.

[0128] Step 3: Calculate the alliance benefits under the current star selection solution and determine whether it is better.

[0129] like Figure 3 As shown, if it is better, the alliance switching is triggered, and the optimal user service satellite set, beamforming vector, system and rate are updated at the same time. Otherwise, the original service satellite set, beamforming vector and optimal system and rate remain unchanged.

[0130] Step 4: Determine whether the traversal of all satellite combinations in the priority sequence is completed.

[0131] If it is completed, the optimal user-satellite service relationship and beamforming vector are finally output, and the system and rate at this time are obtained, otherwise return to step 13 in step 1.

[0132] Step 105, returning the scheduling result to the satellite through the feeder link, so that the satellite provides communication and navigation services to the corresponding user according to the scheduling result.

[0133] It can be understood that after the ground-side gateway completes the resource scheduling of users and satellites, a scheduling result will be generated. The scheduling result includes: the satellite's service users (that is, which satellites will provide services to which users) and the beamforming vector for each service satellite and user (used to optimize the directionality and power allocation of signal transmission).

[0134] Furthermore, after the scheduling results are generated, they are sent to the corresponding satellites through the feeder link (referring to the two-way link between the satellite and the gateway). After the satellite receives the scheduling results transmitted through the feeder link, it will provide communication and navigation services to the designated users based on this information.

[0135] The resource scheduling method for low-orbit satellite communication and navigation integration proposed in this application is applicable to scenarios such as Figure 5 As shown in the figure, in response to the problems of insufficient resource utilization and differentiated performance requirements in the current low-orbit satellite communication and navigation integration research, the location information of users and satellites is obtained based on user service application instructions and satellite ephemeris, and a priority sequence is constructed to perform reasonable service satellite selection and beamforming design, so as to guide the satellite to better provide users with integrated communication and navigation services. The advantage of this method is that through appropriate beamforming design, the interference between cells is effectively suppressed and the data transmission capacity of the system is improved. At the same time, the reasonable selection of service satellites enables the network topology to be controlled within an acceptable range, thereby ensuring the accuracy of positioning and navigation services, and ultimately achieving the goal of balancing communication performance and navigation performance.

[0136] In order to implement the above-mentioned embodiments, the present application also proposes a resource scheduling device for integrating low-orbit satellite communications and navigation.

[0137] Figure 6 1 is a schematic diagram of a resource scheduling device 10 for integrating low-orbit satellite communication and navigation according to an embodiment of the present application, comprising:

[0138] The first acquisition module 100 is used to acquire the user's location information according to the service application instruction of the user in the fixed ground area;

[0139] The second acquisition module 200 is used to acquire the satellite position information according to the satellite ephemeris information;

[0140] A construction module 300 is used to calculate the GDOP value of each user and all satellite combinations according to the position information of the user and the satellite, and to construct a priority sequence;

[0141] The scheduling module 400 is used to perform scheduling planning based on the priority sequence, determine the best set of service satellites for each user, and perform the beamforming design at the transmitting end;

[0142] The service module 500 is used to return the scheduling result to the satellite through the feeder link, so that the satellite can provide communication and navigation services to the corresponding users according to the scheduling result.

[0143] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0144] In order to implement the above embodiments, the present application also proposes an electronic device.

[0145] Figure 7 A schematic block diagram of an example electronic device 700 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0146] like Figure 7As shown, the device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0147] A number of components in the device 700 are connected to the I / O interface 705, including: an input unit 706, such as a keyboard, a mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a disk, an optical disk, etc.; and a communication unit 709, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0148] The computing unit 701 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above. For example, in some embodiments, the scheme proposed in the present application may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 700 via ROM 702 and / or communication unit 709. When the computer program is loaded into RAM 703 and executed by the computing unit 701, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 701 may be configured to perform the method shown in the present application in any other appropriate manner (e.g., by means of firmware).

[0149] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0150] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0151] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0152] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0153] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0154] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0155] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution of this application can be achieved, and this document is not limited here.

[0156] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A resource scheduling method for low-orbit satellite communication and navigation integration, characterized in that: include: Obtain the user's location information based on the user's service application instructions within the ground fixed area; According to the satellite ephemeris information, obtain the satellite position information; The GDOP value of each user and all satellite combinations is calculated based on the position information of the user and the satellite, and a priority sequence is constructed; Perform scheduling planning based on the priority sequence, determine the best set of service satellites for each user, and perform transmitting end beamforming design; The scheduling result is returned to the satellite through a feeder link, so that the satellite provides communication and navigation services to the corresponding user according to the scheduling result.

2. The method according to claim 1, characterized in that The obtaining of the user's location information according to the service application instruction of the user in the ground fixed area includes: receiving, through a gateway, a service application instruction from a user in a fixed ground area, wherein the service application instruction is an instruction sent by the user to the gateway to express the user's desire to receive a service, and the service application instruction includes the user's location information; Based on the service application instruction, the three-dimensional position coordinate information of the user is obtained.

3. The method according to claim 1, characterized in that The obtaining of satellite position information according to satellite ephemeris information includes: Receiving satellite ephemeris information through a gateway, wherein the satellite ephemeris information is an expression for describing the position and velocity of a space flight object; Based on the satellite ephemeris information, the three-dimensional position coordinate information of the satellite is acquired.

4. The method according to claim 1, characterized in that The method of calculating the GDOP value of each user and all satellite combinations according to the position information of the user and the satellite, and constructing a priority sequence, includes: Calculate the GDOP value of each user and all satellite combinations based on the position information of the user and the satellite; For each user, the calculated GDOP values ​​are arranged in ascending order, where the smaller the GDOP value, the higher the priority and the higher it is in the priority sequence; All satellite combinations that do not meet the preset GDOP requirements are removed to obtain the priority sequence of each user.

5. The method according to claim 1, characterized in that The scheduling planning is performed based on the priority sequence, determining the best service satellite set for each user, and performing a transmitting end beamforming design, including: Adopting coalition game and determining the service satellite set of each user based on the priority sequence; After determining the current satellite selection solution, the beamforming design is performed using the convex difference idea between each satellite and its service users; Calculate the alliance benefit under the current satellite selection solution and determine whether it is better. If it is better, trigger alliance switching and update the optimal user service satellite set, beamforming vector, system and rate. Otherwise, the original service satellite set, beamforming vector and optimal system and rate remain unchanged. It is determined whether the traversal of all satellite combinations in the priority sequence is completed. If it is completed, the optimal user-satellite service relationship and beamforming vector are finally output, and the system and rate at this time are obtained.

6. The method according to claim 5, characterized in that The method of determining the service satellite set of each user by using coalition game based on the priority sequence includes: Construct an alliance game, where the participants of the alliance game are all users and satellites. Each user forms an alliance with multiple satellites and receives integrated communication and navigation services from these satellites. The benefit of the alliance is the sum rate of all users. The alliance that meets the network topology constraints is called a feasible alliance. For each user, select the satellite combination with the highest priority in its priority sequence to receive service, determine the initial alliance structure and obtain the initial satellite selection solution; Alliance switching is attempted according to the priority sequence, and the serving satellite of each user is adjusted while ensuring an acceptable network topology.

7. The method according to claim 5, characterized in that After the current satellite selection solution is determined, the beamforming design is performed using the idea of ​​convex difference between each satellite and its service user, including: Introducing auxiliary variables, and initializing the auxiliary variables to arbitrary semi-positive definite matrices within an acceptable range; The idea of ​​convex difference is used to approximate the original maximization and rate problem and solve it iteratively; Calculate the difference between the objective function values ​​of the two iterations and determine whether it is less than or equal to the preset threshold. If so, end the iteration and obtain the optimal solution. Otherwise, return to the previous step and continue the iteration. Using rank 1 approximation, the beamforming vector is obtained and the beamforming design is completed.

8. A resource scheduling device for low-orbit satellite communication and navigation integration, characterized in that: include: The first acquisition module is used to acquire the user's location information according to the service application instruction of the user in the fixed ground area; The second acquisition module is used to acquire the satellite position information according to the satellite ephemeris information; A construction module, used to calculate the GDOP value of each user and all satellite combinations according to the position information of the user and the satellite, and to construct a priority sequence; A scheduling module, used to perform scheduling planning based on the priority sequence, determine the best set of service satellites for each user, and perform transmitting end beamforming design; The service module is used to return the scheduling result to the satellite through the feeder link, so that the satellite provides communication and navigation services to the corresponding users according to the scheduling result.

9. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 7 when executed by a processor.

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