Interconnection communication integrated terminal device for low-orbit satellite and high-orbit satellite

Abstract

The invention relates to a low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device, which comprises the following steps of: firstly, acquiring a relative distance between a first target orbit satellite and a second target orbit satellite according to a communication request instruction; then, according to the relative distance between the first target orbit satellite and the second target orbit satellite, the communication mode is flexibly selected, and when the distance between the first target orbit satellite and the second target orbit satellite is large, the communication mode is selected; whether a third target orbit satellite exists between the first target orbit satellite and the second target orbit satellite or not is judged, and when the third target orbit satellite exists, the third target orbit satellite serves as a communication transfer station to conduct transfer communication between the satellites. In this way, the communication mode between the orbital satellites is dynamically adjusted according to the actual operation state of the satellites, and the flexibility and efficiency of communication between the high-orbit satellites and the low-orbit satellites are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of satellite communication technology, and in particular to an integrated terminal device for interconnecting and communicating low-orbit satellites and high-orbit satellites. Background Art

[0002] With the acceleration of the global informatization process, satellite communication, as an important means of long-distance communication, plays an indispensable role in the civil, commercial and military fields. At present, satellite communication systems are mainly divided into two categories: high-orbit satellites (GEO, geosynchronous orbit satellites) and low-orbit satellites (LEO, low earth orbit satellites), each with unique advantages and limitations. However, in the existing technology, the communication between high-orbit satellites and low-orbit satellites generally adopts a single communication mode, such as direct communication or relying on ground stations, relay satellites and other relay communication methods. This communication mode has obvious limitations when facing complex and changing communication needs, especially the problem of low communication efficiency is becoming increasingly prominent. Although the direct communication method has the shortest path and the lowest delay, due to the complex and changeable relative position relationship between high-orbit satellites and low-orbit satellites, the direct communication link is difficult to maintain stably for a long time, and is affected by factors such as the curvature of the earth and atmospheric attenuation. The signal quality is easily affected, resulting in a decrease in communication efficiency. Although the relay communication method can overcome the limitations of direct communication to a certain extent, it uses ground stations or relay satellites as relay nodes to realize information transmission between high-orbit satellites and low-orbit satellites. However, this method not only increases the complexity and delay of the communication link, but is also limited by the coverage, capacity and reliability of ground stations or relay satellites, making it difficult to meet large-scale, highly dynamic communication needs. Therefore, it is necessary to provide an integrated terminal device for interconnecting low-orbit satellites and high-orbit satellites. Summary of the invention

[0003] In view of the technical problems existing in the prior art, the present invention provides an integrated terminal device for interconnecting and communicating low-orbit satellites and high-orbit satellites.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a low-orbit satellite and a high-orbit satellite interconnection communication integrated terminal device, applied to the interconnection communication between the low-orbit satellite and the high-orbit satellite, comprises a memory and a processor, the memory stores an executable program code, and the processor is used to call and run the executable program code to implement the following steps:

[0005] Acquire a communication request instruction of a first target orbital satellite, the communication request instruction being used to request interconnection communication with a second target orbital satellite, the first target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, and the second target orbital satellite and the first target orbital satellite being satellites of different orbits, and the communication request instruction carrying first position information of the first target orbital satellite relative to the terminal device;

[0006] Acquiring the position information of the second target orbital satellite relative to the terminal device according to the communication request instruction of the first target orbital satellite to obtain second position information;

[0007] Determine the distance information between the first target orbital satellite and the second target orbital satellite according to the first position information and the second position information;

[0008] In the case where the distance between the first target orbital satellite and the second target orbital satellite is greater than a first distance threshold and less than a second distance threshold, returning a communication request instruction of the first target orbital satellite and determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the second distance threshold is greater than the first distance threshold;

[0009] Determine that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and use the third target orbital satellite as a communication relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite;

[0010] It is determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

[0011] In a possible implementation manner, after determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information, the method further includes:

[0012] When the distance between the first target orbital satellite and the second target orbital satellite is less than or equal to a first distance threshold, a communication request instruction of the first target orbital satellite is returned and the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

[0013] In a possible implementation manner, after returning the communication request instruction of the first target orbital satellite and notifying the first target orbital satellite to communicate directly with the second target orbital satellite, the method further includes:

[0014] determining whether direct communication between the first target orbital satellite and the second target orbital satellite meets a communication speed requirement;

[0015] If the direct communication between the first target orbital satellite and the second target orbital satellite does not meet the communication speed requirement, determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite;

[0016] When it is determined that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, the third target orbital satellite is used as a relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite, and direct communication is switched to relay communication.

[0017] In a possible implementation manner, after determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information, the method further includes:

[0018] When the distance between the first target orbital satellite and the second target orbital satellite is greater than or equal to a second distance threshold, a communication request instruction of the first target orbital satellite is accepted and communication relay is provided for the first target orbital satellite and the second target orbital satellite.

[0019] In a possible implementation manner, the determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite includes:

[0020] Screening orbital satellites according to the distance information to obtain a third target orbital satellite, wherein the distances between the third target orbital satellite and the first target orbital satellite and the second target orbital satellite are all less than a preset distance value;

[0021] Determine, according to the first posture information, a vector formed by the terminal device and the first target orbit satellite as a first vector n1;

[0022] Determine, according to the second posture information, a vector formed by the terminal device and the second target orbit satellite as a second vector n2;

[0023] Acquire the position information of the third target orbital satellite relative to the terminal device to obtain third position information, and determine, according to the third position information, that a vector formed by the terminal device and the third target orbital satellite is a third vector n3;

[0024] Calculate the cross product n1×n3 of the first vector n1 and the third vector n3, and calculate the cross product n2×n3 of the second vector n2 and the third vector n3;

[0025] When the results of the cross product n1×n3 and the cross product n2×n3 have different signs, it is determined that the third target orbit satellite is located between the first target orbit satellite and the second target orbit satellite.

[0026] In a possible implementation manner, determining that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and using the third target orbital satellite as a communication relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite, includes:

[0027] Determine that there are multiple third target orbital satellites between the first target orbital satellite and the second target orbital satellite, and respectively calculate the cumulative distance between each third target orbital satellite and the first target orbital satellite and the second target orbital satellite;

[0028] When the accumulated distance is the smallest, the third target orbit satellite corresponding to the accumulated distance is used as a communication transfer station.

[0029] In a possible implementation manner, determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information includes:

[0030] Acquiring the position and posture of the terminal device in a global coordinate system to obtain initial position and posture information, wherein the global coordinate system is a coordinate system with the center of the central planet as the coordinate origin;

[0031] Determine the position and posture information of the first target orbit satellite in the global coordinate system according to the initial position and posture information and the first position and posture information;

[0032] Determine the position and posture information of the second target orbit satellite in the global coordinate system according to the initial position and posture information and the second position and posture information;

[0033] The position information of the first target orbital satellite in the global coordinate system and the position information of the second target orbital satellite in the global coordinate system are input into a pre-trained distance estimation model to obtain the distance information between the first target orbital satellite and the second target orbital satellite. The distance estimation model satisfies the following expression:

[0034]

[0035] Among them, (x1, y1, z1) and (x2, y2, z2) are the three-dimensional position coordinates of the first target orbit satellite and the second target orbit satellite in the global coordinate system, respectively. x 、w y 、w z are the weights learned by the model, 0.8≤w x 、w y、w z ≤1.2, w x 、w y 、w z It reflects the deviation of the model in different directions.

[0036] In a possible implementation manner, the determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite further includes:

[0037] When there is no orbital satellite within the preset distance range between the first target orbital satellite and the second target orbital satellite, determining that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite; or

[0038] When there is a third orbital satellite within a preset distance range between the first target orbital satellite and the second target orbital satellite, and the third orbital satellite is not located between the first target orbital satellite and the second target orbital satellite, it is determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite.

[0039] A method for interconnecting and communicating a low-orbit satellite and a high-orbit satellite, the method comprising:

[0040] Acquire a communication request instruction of a first target orbital satellite, the communication request instruction being used to request interconnection communication with a second target orbital satellite, the first target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite and the first target orbital satellite being satellites in different orbits, and the communication request instruction carrying first position information of the first target orbital satellite relative to the terminal device;

[0041] Acquiring the position information of the second target orbital satellite relative to the terminal device according to the communication request instruction of the first target orbital satellite to obtain second position information;

[0042] Determine the distance information between the first target orbital satellite and the second target orbital satellite according to the first position information and the second position information;

[0043] In the case where the distance between the first target orbital satellite and the second target orbital satellite is greater than a first distance threshold and less than a second distance threshold, returning a communication request instruction of the first target orbital satellite and determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the second distance threshold is greater than the first distance threshold;

[0044] Determine that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and use the third target orbital satellite as a transfer station to provide communication transfer between the first target orbital satellite and the second target orbital satellite;

[0045] It is determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

[0046] A non-transitory computer-readable storage medium, wherein a computer software program is stored in the storage medium, and when the computer software program is executed by a processor, the method for interconnecting and communicating between a low-orbit satellite and a high-orbit satellite as described above is implemented.

[0047] The beneficial effect of the present invention is that the low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device of the present application first obtains the relative distance between the first target orbit satellite and the second target orbit satellite according to the communication request instruction, and then flexibly selects the communication mode according to the relative distance between the first target orbit satellite and the second target orbit satellite. When the distance between the first target orbit satellite and the second target orbit satellite is small, the direct communication mode is selected for interconnection communication between satellites; when the distance between the first target orbit satellite and the second target orbit satellite is large, it is determined whether there is a third target orbit satellite between the first target orbit satellite and the second target orbit satellite. When there is a third target orbit satellite, the third target orbit satellite is used as a communication transfer station for transfer communication between satellites; when the distance between the first target orbit satellite and the second target orbit satellite is very large, the ground terminal device is used as a communication transfer station for transfer communication between satellites. In this way, the communication mode between each orbit satellite is dynamically adjusted according to the actual operating status of the satellite, which significantly improves the flexibility and efficiency of communication between high-orbit satellites and low-orbit satellites. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 A schematic diagram of the satellite operating status provided by an embodiment of the present invention;

[0049] Figure 2 A schematic diagram of a flow chart of a method for interconnecting and communicating a low-orbit satellite and a high-orbit satellite provided in an embodiment of the present invention;

[0050] Figure 3 A schematic diagram of an embodiment of a low-orbit satellite and a high-orbit satellite interconnection communication integrated terminal device provided by an embodiment of the present invention;

[0051] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0053] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0054] In the description of the present application, the term "for example" is used to mean "used as an example, illustration or description". Any embodiment described as "for example" in the present application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is given to enable any technician in the field to implement and use the present invention. In the following description, details are listed for the purpose of explanation. It should be understood that a person of ordinary skill in the art can recognize that the present invention can be implemented without using these specific details. In other examples, well-known structures and processes will not be elaborated in detail to avoid unnecessary details to obscure the description of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown, but is consistent with the widest scope consistent with the principles and features disclosed in the present application.

[0055] With the acceleration of the global informatization process, satellite communication, as an important means of long-distance communication, plays an indispensable role in the civil, commercial and military fields. At present, satellite communication systems are mainly divided into two categories: high-orbit satellites (GEO, geosynchronous orbit satellites) and low-orbit satellites (LEO, low earth orbit satellites), each with unique advantages and limitations. However, in the existing technology, the communication between high-orbit satellites and low-orbit satellites generally adopts a single communication mode, such as direct communication or relying on ground stations, relay satellites and other relay communication methods. This communication mode has obvious limitations when facing complex and changing communication needs, especially the problem of low communication efficiency is becoming increasingly prominent. Although the direct communication method has the shortest path and the lowest delay, due to the complex and changeable relative position relationship between high-orbit satellites and low-orbit satellites, the direct communication link is difficult to maintain stably for a long time, and is affected by factors such as the curvature of the earth and atmospheric attenuation. The signal quality is easily affected, resulting in a decrease in communication efficiency. Although the relay communication method can overcome the limitations of direct communication to a certain extent, it uses ground stations or relay satellites as relay nodes to realize information transmission between high-orbit satellites and low-orbit satellites. However, this method not only increases the complexity and delay of the communication link, but is also limited by the coverage, capacity and reliability of ground stations or relay satellites, making it difficult to meet large-scale, highly dynamic communication needs. Therefore, it is necessary to provide an integrated terminal device for interconnecting low-orbit satellites and high-orbit satellites.

[0056] Example 1

[0057] In view of the above problems, the present application proposes a method for interconnecting and communicating low-orbit satellites and high-orbit satellites. The method is applied to an integrated terminal device for interconnecting and communicating low-orbit satellites and high-orbit satellites, such as Figure 1-2 As shown, the following takes the low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device to perform the low-orbit satellite and high-orbit satellite interconnection communication method as an example for description. It should be noted that although the logical sequence is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from here. Please refer to the attached Figure 2 The method includes the following steps S100 to S600:

[0058] S100, obtaining a communication request instruction of a first target orbital satellite, the communication request instruction being used to request interconnection communication with a second target orbital satellite, the first target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, and the second target orbital satellite and the first target orbital satellite being satellites of different orbits, and the communication request instruction carrying first position information of the first target orbital satellite relative to the terminal device;

[0059] The embodiment of the present application is described by taking the earth as the central star body as an example, and an integrated terminal device for interconnecting and communicating low-orbit satellites and high-orbit satellites is set on the ground as a transit command station for the satellite.

[0060] Specifically, Figure 1 As shown, the orbital satellite located on orbit g1 is a low-orbit satellite, and the orbital satellite located on orbit g2 is a high-orbit satellite. When the low-orbit satellite wants to establish a communication connection with the high-orbit satellite, or the high-orbit satellite wants to establish a communication connection with the low-orbit satellite, it is necessary to send a communication request instruction to the ground terminal device 400. The first target orbital satellite is the low-orbit satellite or the high-orbit satellite that initiates the pass request instruction, and the communication request instruction carries the first position information of the first target orbital satellite relative to the ground terminal device, that is, when the low-orbit satellite wants to establish a communication connection with the high-orbit satellite, or the high-orbit satellite wants to establish a communication connection with the low-orbit satellite, it is necessary to first obtain the relative position information between itself and the ground terminal device, and then package the relative position information as a communication request instruction and send it to the ground terminal device 400. The first position information refers to the position and attitude of the first target orbital satellite relative to the ground terminal device. The position can be expressed by relative distance or three-dimensional coordinates, and the attitude can be expressed by relative azimuth angle.

[0061] S200, acquiring the position information of the second target orbital satellite relative to the terminal device according to the communication request instruction of the first target orbital satellite to obtain second position information;

[0062] Specifically, when the first target orbital satellite sends a communication request instruction hoping to establish a communication connection with the second target orbital satellite, it is necessary to obtain the position information of the second target orbital satellite relative to the terminal device to obtain the second position information to provide support for calculating the distance between the first target orbital satellite and the second target orbital satellite. The second position information refers to the position and attitude of the second target orbital satellite relative to the ground terminal device. The position can be expressed in relative distance or three-dimensional coordinates, and the attitude can be expressed in relative azimuth angles.

[0063] S300, determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information;

[0064] Specifically, after obtaining the first posture information and the second posture information, the distance information between the first target orbital satellite and the second target orbital satellite can be determined according to the first posture information and the second posture information.

[0065] In one embodiment, the step S300 of determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information includes:

[0066] S310, acquiring the position and posture of the terminal device in a global coordinate system to obtain initial position and posture information, wherein the global coordinate system is a coordinate system with the center of the central planet as the coordinate origin;

[0067] S320, determining the posture information of the first target orbit satellite in the global coordinate system according to the initial posture information and the first posture information;

[0068] S330, determining the posture information of the second target orbit satellite in the global coordinate system according to the initial posture information and the second posture information;

[0069] S340, inputting the position information of the first target orbital satellite in the global coordinate system and the position information of the second target orbital satellite in the global coordinate system into a pre-trained distance estimation model to obtain the distance information between the first target orbital satellite and the second target orbital satellite, wherein the distance estimation model satisfies the following expression:

[0070]

[0071] Among them, (x1, y1, z1) and (x2, y2, z2) are the three-dimensional position coordinates of the first target orbit satellite and the second target orbit satellite in the global coordinate system, respectively. x 、w y 、w z are the weights learned by the model, 0.8≤w x 、w y 、w z ≤1.2, w x 、w y 、w z It reflects the deviation of the model in different directions.

[0072] Specifically, firstly, the posture of the terminal device in the global coordinate system is obtained to obtain the initial posture information. The global coordinate system takes the center of the central planet (such as the earth) as the coordinate origin, and the posture information includes position (coordinates) and attitude (direction). Then, the first posture information conversion and the second posture information conversion are performed, that is, the initial posture information and the first posture information (relative posture with the terminal device as the reference system) of the terminal device are used to convert the first posture information into the posture information in the global coordinate system through coordinate transformation (such as rotation and translation) to obtain the converted position information (x1, y1, z1); the initial posture information and the second posture information (relative posture with the terminal device as the reference system) of the terminal device are used. , the second pose information is converted into pose information in the global coordinate system through coordinate transformation (such as rotation and translation) to obtain the converted position information (x2, y2, z2); the three-dimensional position coordinates (x1, y1, z1) and (x2, y2, z2) of the two target orbit satellites in the global coordinate system are used as input and input into a pre-trained distance estimation model. The above model is a mapping relationship model from the satellite position coordinates to the distance between them obtained by machine learning technology. In actual situations, due to the influence of various factors such as observation error and satellite orbit error, the actual position of the satellite may deviate from the theoretical position to a certain extent, and the weight w set by the distance estimation model of this application x 、w y 、w z By adjusting the deviation contribution in different directions, the model can more accurately predict the distance between satellites, which not only improves the accuracy of distance calculation, but also enhances the adaptability and robustness of the system. The weight value is limited to between 0.8 and 1.2, which helps to maintain the balance of the model in different directions. If the value of a certain weight is too large or too small, it may cause the model to overfit or underfit in a certain direction, thereby affecting the overall prediction performance. By limiting the range of weights, the model can maintain relatively stable prediction capabilities in different directions.

[0073] The inventors of the present application found in simulation tests that the position change in the X direction has a relatively large impact on the prediction result. Correspondingly, in the model, the model may believe that the information in this direction is more important for accurately predicting the distance; the position change in the Y direction has a relatively small impact on the prediction result. Correspondingly, in the model, the model may believe that the information in this direction is relatively not very important for accurately predicting the distance; therefore, the model is given a weight w x =1.2, w y =0.8, w z =1.0.

[0074] S400, when the distance between the first target orbital satellite and the second target orbital satellite is greater than a first distance threshold and less than a second distance threshold, returning a communication request instruction of the first target orbital satellite and determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the second distance threshold is greater than the first distance threshold;

[0075] Specifically, when the distance between the first target orbital satellite and the second target orbital satellite is greater than the first distance threshold and less than the second distance threshold, it means that the distance between the first target orbital satellite and the second target orbital satellite is large, and it is necessary to further determine whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite. If there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, the first target orbital satellite and the second target orbital satellite can be controlled to communicate directly to improve communication efficiency; if there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, communication can be relayed through the third target orbital satellite to further improve communication efficiency.

[0076] In one embodiment, the step of determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite comprises:

[0077] Screening orbital satellites according to the distance information to obtain a third target orbital satellite, wherein the distances between the third target orbital satellite and the first target orbital satellite and the second target orbital satellite are all less than a preset distance value;

[0078] Determine, according to the first posture information, a vector formed by the terminal device and the first target orbit satellite as a first vector n1;

[0079] Determine, according to the second posture information, a vector formed by the terminal device and the second target orbit satellite as a second vector n2;

[0080] Acquire the position information of the third target orbital satellite relative to the terminal device to obtain third position information, and determine, according to the third position information, that a vector formed by the terminal device and the third target orbital satellite is a third vector n3;

[0081] Calculate the cross product n1×n3 of the first vector n1 and the third vector n3, and calculate the cross product n2×n3 of the second vector n2 and the third vector n3;

[0082] When the results of the cross product n1×n3 and the cross product n2×n3 have different signs, it is determined that the third target orbit satellite is located between the first target orbit satellite and the second target orbit satellite.

[0083] Specifically, firstly, the third target orbital satellite is screened, that is, all satellites whose distances to the first target orbital satellite and the second target orbital satellite are less than a preset distance value are screened according to the distance information, and these satellites are regarded as potential third target orbital satellites; then, the vectors are determined, that is, the position information (including position and attitude) of the terminal device is used to respectively determine the vectors between the first target orbital satellite, the second target orbital satellite and the screened third target orbital satellite, and these vectors are respectively recorded as the first vector n1, the second vector n2 and the third vector n3; then, the cross product is calculated, that is, the cross product n1×n3 of the first vector n1 and the third vector n3 is calculated to obtain And the cross product n2×n3 of the second vector n2 and the third vector n3; then determine the sign of the cross product. The result of the cross product is a vector whose direction is perpendicular to the plane formed by the two cross-multiplied vectors. In this problem, we are mainly concerned about the sign (i.e. direction) of the cross product, rather than its modulus. If the results of n1×n3 and n2×n3 have different signs (i.e. one is in the positive direction and the other is in the negative direction), then it means that the third vector n3 (i.e. the vector pointing to the third target orbit satellite) is not on the same side and does not overlap with the first vector n1 and the second vector n2. It can be determined that the third target orbit satellite is located between the first target orbit satellite and the second target orbit satellite.

[0084] In one embodiment, when there are multiple potential third target orbital satellites that meet the distance condition, that is, it is determined that there are multiple third target orbital satellites between the first target orbital satellite and the second target orbital satellite, the cumulative distance between each third target orbital satellite and the first target orbital satellite and the second target orbital satellite can be calculated respectively; when the cumulative distance is the smallest, the third target orbital satellite corresponding to the cumulative distance is used as a communication relay station.

[0085] For example, there are two third target orbital satellites 310 and 320. The distances between the third target orbital satellite 310 and the first target orbital satellite 100 and the second target orbital satellite 200 are calculated as S1 and S2, respectively, and the accumulated distance is S 12 = S1 + S2; Calculate the distances between the third target orbital satellite 320 and the first target orbital satellite 100 and the second target orbital satellite 200 as S3 and S4, respectively, and obtain the accumulated distance S 34 =S3+S4; if S 12 , S 34 Medium S 12 minimum, the third target orbit satellite 310 is used as a communication relay station.

[0086] In another embodiment, the step of determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite further includes:

[0087] When there is no orbital satellite within the preset distance range between the first target orbital satellite and the second target orbital satellite, determining that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite; or

[0088] When there is a third orbital satellite within a preset distance range between the first target orbital satellite and the second target orbital satellite, and the third orbital satellite is not located between the first target orbital satellite and the second target orbital satellite, it is determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite.

[0089] Specifically, when no orbital satellite meeting the distance condition is screened out according to the distance information, it means that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite; or when a third orbital satellite meeting the distance condition is screened out according to the distance information, but the third orbital satellite is not located between the first target orbital satellite and the second target orbital satellite, it means that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite.

[0090] S500, determining that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and using the third target orbital satellite as a communication relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite;

[0091] S600: Determine that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and notify the first target orbital satellite to communicate directly with the second target orbital satellite.

[0092] Specifically, when the distance between the first target orbital satellite and the second target orbital satellite is greater than a first distance threshold and less than a second distance threshold, it means that the distance between the first target orbital satellite and the second target orbital satellite is large. When it is further determined that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, the third target orbital satellite (if there are multiple qualified third target orbital satellites, the communication accumulated distance is selected) is used as a communication relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite; when it is further determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

[0093] In the embodiment of the present application, when the distance between the two satellites is large, direct communication may be affected by factors such as signal attenuation and transmission delay, resulting in reduced communication efficiency; by introducing a third target orbit satellite as a communication transfer station, the distance of each communication link can be effectively shortened, thereby reducing signal attenuation and transmission delay, and improving communication efficiency. In addition, this strategy not only takes into account the situation where a third target orbit satellite exists, but also takes into account the situation where a third target orbit satellite does not exist. When there is no suitable third target orbit satellite, the system can automatically switch to direct communication mode to ensure the continuity and stability of communication. This flexibility enables the system to adapt to different space environments and communication needs, optimize communication efficiency, enhance communication reliability, flexibly respond to various situations, optimize resource utilization, and improve the level of system intelligence.

[0094] Example 2

[0095] After the step S300: determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first position information and the second position information, the method further includes:

[0096] When the distance between the first target orbital satellite and the second target orbital satellite is less than or equal to a first distance threshold, a communication request instruction of the first target orbital satellite is returned and the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

[0097] Specifically, when the distance between the first target orbital satellite and the second target orbital satellite is less than or equal to the first distance threshold, this means that the spatial distance between them is relatively close. In this close distance situation, signal attenuation and transmission delay will become very small, which is conducive to achieving efficient and stable direct communication. At this time, direct communication is not only technically feasible, but also the best choice from the perspective of communication efficiency and economy. Therefore, the system will directly return the communication request instruction of the first target orbital satellite, and notify the first target orbital satellite to communicate directly with the second target orbital satellite; this method avoids the additional delay and energy consumption caused by introducing the third target orbital satellite as a transit station, and ensures that data can be transmitted quickly and accurately between the two satellites.

[0098] In a satellite communication system, the communication speed is not only affected by the distance, but may also be affected by other unexpected factors. It is very important to ensure that the communication speed meets specific requirements. Therefore, after notifying the first target orbital satellite to communicate directly with the second target orbital satellite, the system also needs to make a series of judgments and possible adjustments to ensure that the communication speed meets the requirements. Therefore, in one embodiment, after returning the communication request instruction of the first target orbital satellite and notifying the first target orbital satellite to communicate directly with the second target orbital satellite, it also includes:

[0099] determining whether direct communication between the first target orbital satellite and the second target orbital satellite meets a communication speed requirement;

[0100] If the direct communication between the first target orbital satellite and the second target orbital satellite does not meet the communication speed requirement, determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite;

[0101] When it is determined that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, the third target orbital satellite is used as a relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite, and direct communication is switched to relay communication.

[0102] Specifically, when the direct communication speed does not meet the requirements, the system needs to determine whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite. If it is determined that there is a suitable third target orbital satellite, the system will select one (or more, if parallel transmission is supported) as a communication relay station. Subsequently, the system will notify the first target orbital satellite and the second target orbital satellite to switch the current direct communication mode to a relay communication mode through the third target orbital satellite. During the switching process, it is necessary to ensure a smooth transition of data to avoid data loss or repeated transmission; in this way, the system can flexibly respond to speed requirements in satellite communications and ensure that stable and efficient communication services can be provided under any circumstances.

[0103] Example 3

[0104] After the step S300: determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first position information and the second position information, the method further includes:

[0105] When the distance between the first target orbital satellite and the second target orbital satellite is greater than or equal to a second distance threshold, a communication request instruction of the first target orbital satellite is accepted and communication relay is provided for the first target orbital satellite and the second target orbital satellite.

[0106] Specifically, when the distance between the first target orbital satellite and the second target orbital satellite reaches a significant level, that is, greater than or equal to a preset second distance threshold, direct communication will become infeasible or inefficient due to increased signal attenuation and significantly increased transmission delay. In this case, the ground terminal device will actively intervene, receive the communication request instruction from the first target orbital satellite, and assume the role of providing efficient and stable communication relay between the first target orbital satellite and the second target orbital satellite to ensure the continuity and quality of data transmission.

[0107] Based on this, the low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device and interconnection communication method of the present application first obtain the relative distance between the first target orbit satellite and the second target orbit satellite according to the communication request instruction, and then flexibly select the communication mode according to the relative distance between the first target orbit satellite and the second target orbit satellite. When the distance between the first target orbit satellite and the second target orbit satellite is small, select the direct communication mode for interconnection communication between satellites; when the distance between the first target orbit satellite and the second target orbit satellite is large, determine whether there is a third target orbit satellite between the first target orbit satellite and the second target orbit satellite. When there is a third target orbit satellite, use the third target orbit satellite as a communication transfer station for transfer communication between satellites; when the distance between the first target orbit satellite and the second target orbit satellite is very large, use the ground terminal device as a communication transfer station for transfer communication between satellites. In this way, the communication mode between each orbit satellite is dynamically adjusted according to the actual operating status of the satellite, which significantly improves the flexibility and efficiency of communication between high-orbit satellites and low-orbit satellites.

[0108] See also Figure 3 , Figure 3 This is a schematic diagram of an embodiment of a low-orbit satellite and a high-orbit satellite interconnection communication integrated terminal device provided by an embodiment of the present invention. Figure 3As shown, an embodiment of the present invention provides an integrated terminal device 500 for interconnecting and communicating low-orbit satellites and high-orbit satellites, including a memory 510, a processor 520, and a computer program 511 stored in the memory 510 and executable on the processor 520. When the processor 520 executes the computer program 511, the following steps are implemented: obtaining a communication request instruction of a first target orbital satellite, wherein the communication request instruction is used to request interconnection and communication with a second target orbital satellite, wherein the first target orbital satellite is one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite is one of a low-orbit satellite and a high-orbit satellite, and the second target orbital satellite and the first target orbital satellite are satellites of different orbits, and the communication request instruction carries a first position information of the first target orbital satellite relative to the terminal device; obtaining a first position information of the second target orbital satellite relative to the terminal device according to the communication request instruction of the first target orbital satellite Two posture information; determine the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information; when the distance between the first target orbital satellite and the second target orbital satellite is greater than the first distance threshold and less than the second distance threshold, return the communication request instruction of the first target orbital satellite and judge whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the second distance threshold is greater than the first distance threshold; determine that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and use the third target orbital satellite as a communication relay station to provide communication relay for the first target orbital satellite and the second target orbital satellite; determine that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and notify the first target orbital satellite to communicate directly with the second target orbital satellite.

[0109] See also Figure 4 , Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present invention. Figure 4As shown, this embodiment provides a computer-readable storage medium 600, on which a computer program 611 is stored. When the computer program 611 is executed by a processor, the following steps are implemented: obtaining a communication request instruction of a first target orbital satellite, the communication request instruction is used to request interconnection communication with a second target orbital satellite, the first target orbital satellite is one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite is one of a low-orbit satellite and a high-orbit satellite, and the second target orbital satellite and the first target orbital satellite are satellites in different orbits, the communication request instruction carries the first position information of the first target orbital satellite relative to the terminal device; obtaining the position information of the second target orbital satellite relative to the terminal device according to the communication request instruction of the first target orbital satellite to obtain the second position information; and obtaining the position information of the second target orbital satellite relative to the terminal device according to the first position information and the second position information. Determine the distance information between the first target orbital satellite and the second target orbital satellite; when the distance between the first target orbital satellite and the second target orbital satellite is greater than a first distance threshold and less than a second distance threshold, return the communication request instruction of the first target orbital satellite and determine whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the second distance threshold is greater than the first distance threshold; determine that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and use the third target orbital satellite as a communication relay station to provide communication relay for the first target orbital satellite and the second target orbital satellite; determine that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and notify the first target orbital satellite to communicate directly with the second target orbital satellite.

[0110] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0111] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented 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.

[0112] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0113] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0114] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0115] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0116] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device, characterized in that: The invention is applied to the interconnection communication between a low-orbit satellite and a high-orbit satellite, and includes a memory and a processor. The memory stores an executable program code, and the processor is used to implement the following steps when calling and running the executable program code: Acquire a communication request instruction of a first target orbital satellite, the communication request instruction being used to request interconnection communication with a second target orbital satellite, the first target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, and the second target orbital satellite and the first target orbital satellite being satellites of different orbits, and the communication request instruction carrying first position information of the first target orbital satellite relative to the terminal device; Acquiring the position information of the second target orbital satellite relative to the terminal device according to the communication request instruction of the first target orbital satellite to obtain second position information; Determine the distance information between the first target orbital satellite and the second target orbital satellite according to the first position information and the second position information; In the case where the distance between the first target orbital satellite and the second target orbital satellite is greater than a first distance threshold and less than a second distance threshold, returning a communication request instruction of the first target orbital satellite and determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the second distance threshold is greater than the first distance threshold; Determine that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and use the third target orbital satellite as a communication relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite; It is determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

2. The low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device according to claim 1, characterized in that: After determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information, the method further includes: When the distance between the first target orbital satellite and the second target orbital satellite is less than or equal to a first distance threshold, a communication request instruction of the first target orbital satellite is returned and the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

3. The low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device as claimed in claim 2, characterized in that: After returning the communication request instruction of the first target orbital satellite and notifying the first target orbital satellite to communicate directly with the second target orbital satellite, the method further includes: determining whether direct communication between the first target orbital satellite and the second target orbital satellite meets a communication speed requirement; If the direct communication between the first target orbital satellite and the second target orbital satellite does not meet the communication speed requirement, determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite; When it is determined that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, the third target orbital satellite is used as a relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite, and direct communication is switched to relay communication.

4. The low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device according to claim 1, characterized in that: After determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information, the method further includes: When the distance between the first target orbital satellite and the second target orbital satellite is greater than or equal to a second distance threshold, a communication request instruction of the first target orbital satellite is accepted and communication relay is provided for the first target orbital satellite and the second target orbital satellite.

5. The low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device according to claim 1, characterized in that: The determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite comprises: Screening orbital satellites according to the distance information to obtain a third target orbital satellite, wherein the distances between the third target orbital satellite and the first target orbital satellite and the second target orbital satellite are all less than a preset distance value; Determine, according to the first posture information, a vector formed by the terminal device and the first target orbit satellite as a first vector n1; Determine, according to the second posture information, a vector formed by the terminal device and the second target orbit satellite as a second vector n2; Acquire the position information of the third target orbital satellite relative to the terminal device to obtain third position information, and determine, according to the third position information, that a vector formed by the terminal device and the third target orbital satellite is a third vector n3; Calculate the cross product n1×n3 of the first vector n1 and the third vector n3, and calculate the cross product n2×n3 of the second vector n2 and the third vector n3; When the results of the cross product n1×n3 and the cross product n2×n3 have different signs, it is determined that the third target orbit satellite is located between the first target orbit satellite and the second target orbit satellite.

6. The low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device as claimed in claim 1, characterized in that: The step of determining that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and using the third target orbital satellite as a communication relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite, comprises: Determine that there are multiple third target orbital satellites between the first target orbital satellite and the second target orbital satellite, and respectively calculate the accumulated distance between each third target orbital satellite and the first target orbital satellite and the second target orbital satellite; When the accumulated distance is the smallest, the third target orbit satellite corresponding to the accumulated distance is used as a communication transfer station.

7. The low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device as claimed in claim 4, characterized in that: The determining the distance information between the first target orbital satellite and the second target orbital satellite according to the first posture information and the second posture information includes: Acquiring the position and posture of the terminal device in a global coordinate system to obtain initial position and posture information, wherein the global coordinate system is a coordinate system with the center of the central planet as the coordinate origin; Determine the position and posture information of the first target orbit satellite in the global coordinate system according to the initial position and posture information and the first position and posture information; Determine the position and posture information of the second target orbit satellite in the global coordinate system according to the initial position and posture information and the second position and posture information; The position information of the first target orbital satellite in the global coordinate system and the position information of the second target orbital satellite in the global coordinate system are input into a pre-trained distance estimation model to obtain the distance information between the first target orbital satellite and the second target orbital satellite. The distance estimation model satisfies the following expression: Among them, (x1, y1, z1) and (x2, y2, z2) are the three-dimensional position coordinates of the first target orbit satellite and the second target orbit satellite in the global coordinate system, respectively. x 、w y 、w z are the weights learned by the model, 0.8≤w x 、w y 、w z ≤1.2, w x 、w y 、w z It reflects the deviation of the model in different directions.

8. The low-orbit satellite and high-orbit satellite interconnection communication integrated terminal device as claimed in claim 1, characterized in that: The determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite also includes: When there is no orbital satellite within the preset distance range between the first target orbital satellite and the second target orbital satellite, determining that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite; or When there is a third orbital satellite within a preset distance range between the first target orbital satellite and the second target orbital satellite, and the third orbital satellite is not located between the first target orbital satellite and the second target orbital satellite, it is determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite.

9. A method for interconnecting and communicating between a low-orbit satellite and a high-orbit satellite, characterized in that: The method comprises: Acquire a communication request instruction of a first target orbital satellite, the communication request instruction being used to request interconnection communication with a second target orbital satellite, the first target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, the second target orbital satellite being one of a low-orbit satellite and a high-orbit satellite, and the second target orbital satellite and the first target orbital satellite being satellites of different orbits, and the communication request instruction carrying first position information of the first target orbital satellite relative to the terminal device; Acquiring the position information of the second target orbital satellite relative to the terminal device according to the communication request instruction of the first target orbital satellite to obtain second position information; Determine the distance information between the first target orbital satellite and the second target orbital satellite according to the first position information and the second position information; In the case where the distance between the first target orbital satellite and the second target orbital satellite is greater than a first distance threshold and less than a second distance threshold, returning a communication request instruction of the first target orbital satellite and determining whether there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the second distance threshold is greater than the first distance threshold; Determine that there is a third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and use the third target orbital satellite as a communication relay station to provide communication relay between the first target orbital satellite and the second target orbital satellite; It is determined that there is no third target orbital satellite between the first target orbital satellite and the second target orbital satellite, and the first target orbital satellite is notified to communicate directly with the second target orbital satellite.

10. A non-transitory computer-readable storage medium, characterized in that: The storage medium stores a computer software program, and when the computer software program is executed by the processor, the method for interconnecting and communicating between a low-orbit satellite and a high-orbit satellite as claimed in claim 9 is implemented.

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