Switching resource reservation method for low earth orbit satellite system without terminal position auxiliary information

Abstract

The invention discloses a switching resource reservation method for a low earth orbit satellite system without terminal position auxiliary information, which comprises the following steps that: when a terminal is initialized and registered to a satellite network, a network side calculates the initial position of the terminal according to the current wave position information of the terminal; when a terminal initiates a switching request for first N times, a network side reserves channel resources in beams corresponding to all beam positions around a current beam position of the terminal; and when the terminal initiates a switching request for the N + 1th time, the network side selects a plurality of beam positions which the terminal may experience, and reserves channel resources in a beam corresponding to each beam position in the beam position set. According to the method, the historical wave position information of the high-speed terminal which does not report position information under the low-orbit satellite communication system and the time interval information from switching initiation to switching completion are analyzed, the rough trajectory information of the terminal is deduced, in the terminal switching process, the channel resource reservation amount is reduced, and the terminal switching efficiency is improved. And meanwhile, the terminal switching success rate under the high-load condition of the satellite communication system is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of satellite communications, and in particular relates to a method for reserving switching resources for a low-orbit satellite system without terminal position auxiliary information. Background Art

[0002] In satellite communication systems, the switching management of communication resources is a key technology to ensure seamless transfer of communications between different satellites or different beams, thereby maintaining the stability and continuity of the connection. Switching management is mainly divided into two types: inter-beam switching and inter-satellite switching. Inter-beam switching refers to the transfer of a communication connection from one beam in a satellite to another beam of the satellite. This switching usually occurs when a satellite moves in a mobile user or satellite fixed cell scenario. Inter-satellite switching refers to the transfer of a communication connection from one satellite to another.

[0003] In the conventional handover process, the network sends measurement configuration information to the terminal, which defines the type of measurement, frequency, measurement report sending conditions and reporting method that the terminal needs to perform. These configuration parameters provide the network with data about signal strength, quality and neighboring cell information, which facilitates the network to make handover decisions.

[0004] For high-speed terminals that do not report their own location information to the network side, the network side knows the current beam position information of the terminal, and the terminal also knows the ground beam position information. When it is about to cross the current beam position, it will actively initiate a switching request to the network side. However, unlike the scenario where the terminal location information is known, the network side cannot directly determine the target beam that the terminal is about to reach. When the terminal initiates a switching request, the satellite communicating with the terminal needs to reserve channel resources in the beams corresponding to all beam positions around the current terminal's beam position to ensure the successful switching of the terminal. Due to the frequent switching of high-speed terminals, satellites need to frequently reserve resources and the amount of reserved channel resources is huge. Summary of the invention

[0005] The present invention aims to solve one of the technical problems existing in the related art at least to a certain extent.

[0006] One object of the present invention is to provide a switching resource reservation method for a low-orbit satellite system without terminal position auxiliary information, thereby reducing the number of wave positions of reserved channel resources when the terminal initiates switching, while reducing the switching failure rate of the terminal under high satellite load conditions and reducing system resource overhead.

[0007] In order to achieve the above-mentioned object, the present invention provides, on one hand, a method for reserving handover resources in a low-orbit satellite system without terminal position assistance information, comprising:

[0008] When the terminal is initially registered to the satellite network and the terminal does not provide location information, the network side calculates the initial location information of the terminal based on the current position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0009] When the terminal initiates a handover request N times before, the network side reserves channel resources in the corresponding beams of all the beam positions around the current beam position of the terminal, and records the time interval from the initiation of the handover to the completion of the handover; the network side also continuously collects the information of the beam position where the terminal is located and updates the relevant parameters of the Kalman filter;

[0010] When the terminal initiates a handover request for the N+1th time, the network side calculates the estimated position information of the next time step based on the historical wave position information; the network side selects several wave positions that the terminal may experience based on the position information of the next time step combined with the position information of the surrounding wave positions, forms a wave position set that the terminal may experience, and reserves channel resources in the beam corresponding to each wave position in the wave position set;

[0011] When the time interval from when the terminal initiates switching to when the switching is completed is greater than a threshold, the network side reserves channel resources in all wave positions around the current wave position of the terminal, and updates the relevant parameters of the Kalman filter after the resources are successfully reserved and the terminal completes the switching.

[0012] A further preferred technical solution of the present invention is to initialize Kalman filter related parameters, including initial state estimation vector x_est, initial state covariance matrix p_est, time step dt, state transfer matrix A, observation matrix H, process noise covariance matrix Q, and observation noise covariance matrix R.

[0013] As a preferred method, the Kalman filter related parameters are updated, which is expressed as:

[0014] x_pred = A * x_est

[0015] P_pred=A*P_est * A′+Q

[0016] K=P_pred*H′ / (H * P_pred*H′+R)

[0017] x_est=x_pred+K*(measurements(i,:)′-H * x_pred)

[0018] P_est=(eye(4)-K * H)*P_pred

[0019] estimated-positions(i,:)=x_est(1:2)′

[0020] Among them, x_pred is the state estimate of the next time step based on the previous time step, which is calculated by the state transfer matrix A and the estimate of the previous state x_est; the state transfer matrix A represents the movement pattern of the terminal;

[0021] P_pred is the covariance matrix of the predicted state, and Q represents the uncertainty of the prediction;

[0022] K is the Kalman gain, which is used to determine the trade-off between new measurement data and predicted state, and H is the observation matrix;

[0023] x_est is the updated state estimate after combining the predicted state and the new measurement data, which contains the terminal's position and speed information; measurements(i,:) is the observed value of the current time step, H * x_pred maps the predicted state to the observation space for comparison with the actual observation value;

[0024] P_est is the updated state covariance matrix, which represents the uncertainty of the updated state. This matrix is ​​obtained by adjusting the prediction covariance P_pred by considering the Kalman gain and the influence of observations;

[0025] estimated-positions(i,:) is the position information obtained based on the predicted value and the measured value at each step.

[0026] Preferably, the observed value is a random value within a specified range of the combination of the coordinates of the wave position center point and the horizontal and vertical coordinates, indicating the possible location information of the terminal.

[0027] Multiple groups of different observation values ​​are set at the same time to ensure the correlation between the terminal location information and the set observation values.

[0028] Preferably, when the terminal initiates a handover request for the N+1th time, the network side calculates the estimated position information of the next time step according to the historical wave position information, which is expressed as:

[0029] next_x_est=A * x_est

[0030] next_position=next_x_est(1:2)′

[0031] Among them, next_x_est is the state estimation vector predicted for the next time step, and next_position is the terminal position information for the next time step.

[0032] As a preference, the network side selects several wave positions that the terminal may experience according to the position information of the next time step combined with the position information of the surrounding wave positions, and the specific method is as follows:

[0033] The network side constructs a strip area from the current time step to the next time step based on the position information in the state estimation vector of the current time step and the predicted terminal position information of the next time step. The strip range is the union area surrounded by the lines from the position information of the current time step to the position information of the next time step. This area is both a rough estimate of the terminal motion trajectory and the wave position that the terminal may reach in the next time step.

[0034] As a preference, when the terminal initiates a handover request N times before, the network side reserves channel resources in the beams corresponding to all the beams around the current beam of the terminal; when the terminal moves to the beam with reserved channel resources and completes the handover, the time interval from the terminal initiating the handover to the handover completion is collected, recorded as t G ;

[0035] When the time interval between the terminal switching to the current time exceeds the historical time t G When the data value is 1.5 times the average value, the network side reserves channel resources in all wave positions around the current wave position of the terminal.

[0036] Another aspect of the present invention provides a non-transitory computer-readable storage medium having computer instructions stored thereon, the computer instructions enabling a computer to execute the above-mentioned method for reserving switching resources for a low-orbit satellite system without terminal position assistance information.

[0037] Another aspect of the present invention provides an electronic device, comprising: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus, and the processor calls the logic instructions in the memory to execute the above-mentioned switching resource reservation method for the low-orbit satellite system without terminal position auxiliary information.

[0038] On the other hand, the present invention provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer executes the above-mentioned switching resource reservation method for a low-orbit satellite system without terminal position assistance information.

[0039] Beneficial effects: The present invention proposes a resource reservation method for switching between beams of high-speed terminals that do not report their own location information. By combining the terminal's historical beam position information and switching time interval information with the Kalman filter algorithm, a list of beam positions that the terminal may experience is output when the terminal initiates a switch, and channel resources are reserved in the beams corresponding to the beam positions in the list. Compared with the network side reserving resources in all beam positions corresponding to the current beam position of the terminal each time the terminal initiates a switch, the channel resource reservation overhead is greatly reduced, and at the same time, the target beam resource reservation success rate is improved under high load conditions of the satellite communication system, thereby improving the switching success rate.

[0040] The present invention inputs the terminal location information and motion information into the Kalman filter algorithm, combines the mapping of the terminal's historical wave position information to the location information to adjust the Kalman filter algorithm related parameters, improves the accuracy of the terminal location information estimation, and has low algorithm complexity. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 Schematic diagram of inter-beam switching for a terminal;

[0042] Figure 2 A schematic diagram of the change in received signal power when the terminal moves within the beam;

[0043] Figure 3 A schematic diagram of the change in received signal power when the terminal moves between beams;

[0044] Figure 4 It is a schematic diagram of the terminal flight trajectory and the terminal experienced wave position;

[0045] Figure 5 Based on the historical wave position information of the terminal, the Kalman filter algorithm is used to output the current time step position information based on the measurement value of the current time step and predict the terminal position information of the next time step;

[0046] Figure 6 A schematic diagram showing a comparison of the number of wave bits for reserved channel resources in different methods;

[0047] Figure 7 A schematic diagram showing the comparison of the handover success rates of different methods under high load conditions of the satellite communication system;

[0048] Figure 8 The present invention is a flow chart of a method for reserving handover resources in a low-orbit satellite system without terminal position assistance information. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments, and they should not be understood as limitations on the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In the description of the present invention, it should be understood that the terms used are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0050] Combine the following Figure 1-Figure 7 The present invention describes a method, medium, device and computer program product for reserving handover resources in a low-orbit satellite system without terminal position assistance information.

[0051] Embodiment 1: This embodiment provides a method for reserving handover resources in a low-orbit satellite system without terminal position assistance information.

[0052] This embodiment uses Figure 1 Taking the scenario in as an example, this paper introduces the terminal beam switching in the ground fixed cell scenario of the low-orbit satellite communication system. Figure 2 The terminal and the low-orbit satellite move in opposite directions and the terminal is always in the same beam scenario. The terminal's received signal power changes over time. The terminal's flight speed is Mach 5 and the beam radius is 50km. Figure 3 It is the change of the received signal power of the terminal over time when the terminal and the low-orbit satellite move in opposite directions and the terminal experiences three different beam scenarios. Figure 2 , 3 It can be seen that in this embodiment, the specific location information of the terminal in the wave position cannot be determined by the received signal power of the terminal.

[0053] In this context, the handover resource reservation method of this embodiment is proposed, which specifically includes the following steps:

[0054] When the terminal initializes access to the satellite network, the current wave position information of the terminal is determined, and the coordinates of the current wave position center constitute a part of the initial state estimation vector x_est. At the same time, the initial state covariance matrix p_est, time step dt, state transfer matrix A, observation matrix H, process noise covariance matrix Q, and observation noise covariance matrix R are initialized.

[0055] When the terminal initiates a handover request for the first time, the network reserves channel resources in all beam positions around the current beam position of the terminal, and estimates the motion information of the terminal based on the time interval from the initial registration of the terminal to the initiation of the handover request, which constitutes a part of the initial state estimation vector x_est. The Kalman filter algorithm is combined with various parameter settings to output the expected position information and motion information. When the terminal switches between beams and sends a handover completion message through the target beam, the network cancels the channel resources reserved in other beam positions. The network compares the expected terminal position information and motion information output by the Kalman filter algorithm with the actual terminal beam position information to adjust the parameter settings of the Kalman filter algorithm. Figure 4 The terminal flight track and terminal historical wave position are displayed.

[0056] Parameter setting and updating can be expressed as:

[0057] x_pred = A * x_est

[0058] P_pred=A*P_est * A′+Q

[0059] K=P_pred*H′ / (H * P_pred*H′+R)

[0060] x_est=x_pred+K*(measurements(i,:)′-H * x_pred)

[0061] P_est=(eye(4)-K * H)*P_pred

[0062] estimated-positions(i,:)=x_est(1:2)′

[0063] Among them, x_pred is the state estimate of the next time step based on the previous time step, which is calculated by the state transfer matrix A and the estimate x_est of the previous state, indicating the best estimate of the system state before no new measurement information is added; the state transfer matrix A represents the movement pattern of the terminal;

[0064] P_pred is the covariance matrix of the predicted state, which represents the uncertainty of the predicted state. In this scenario, it means that the terminal location information is affected by external interference or prediction errors. As time goes by and the system evolves, the uncertainty of the prediction will increase, and this part of the uncertainty is represented by the process noise Q;

[0065] K is the Kalman gain, which is used to determine the trade-off between new measurement data and predicted state, and H is the observation matrix;

[0066] x_est is the updated state estimate after combining the predicted state and the new measurement data, which contains the terminal's position and velocity information; measurements(i,:) is the observation value of the current time step, which is associated with the historical wave position information experienced by the terminal, H * x_pred maps the predicted state to the observation space for comparison with the actual observation value;

[0067] P_est is the updated state covariance matrix, which represents the uncertainty of the updated state. This matrix is ​​obtained by adjusting the prediction covariance P_pred by considering the Kalman gain and the influence of observations;

[0068] estimated-positions(i,:) is the position information obtained based on the predicted value and the measured value at each step.

[0069] When the network side initiates the handover request for the terminal for the first N times, it reserves resources in all the wave positions around the current wave position of the terminal, compares the predicted location information with the actual location information of the terminal, and adjusts the settings of the Kalman filter parameters. Since the measurements data cannot represent the specific location information of the terminal at the wave position, the accuracy of the terminal trajectory prediction is improved by setting the offset position relative to the center point of the wave position as the measurement value and analyzing 5 sets of measurement data at the same time.

[0070] Starting from the N+1th time the terminal initiates a handover request, the network side predicts the terminal location information of the next time step through the Kalman filter algorithm. The prediction process can be expressed as:

[0071] next_x_est=A * x_est

[0072] next_position=next_x_est(1:2)′

[0073] Among them, next_x_est is the state estimation vector predicted for the next time step, and next_position is the terminal position information for the next time step.

[0074] The network side constructs a strip area describing the possible flight path of the terminal based on the position information of the last row of the estimated-positions matrix in the five sets of data combined with the position information represented by next_position. The intersection of the strip area and the adjacent wave position of the current terminal is analyzed, and the wave position that the high-speed terminal may enter is predicted by calculating the intersection of the strip area and the adjacent wave position, such as Figure 5 shown.

[0075] The network reserves channel resources for the terminal in the beam corresponding to the target beam position according to the prediction results. When the network detects that the terminal switches between beams and accesses a beam with reserved channel resources, it cancels the resource reservation in other beams. G When the value is 1.5 times the average value of the data and the terminal is not detected to be connected to the beam with reserved channel resources, the network side reserves channel resources in the beams corresponding to all the beams around the current terminal beam to ensure the successful switching of the high-speed terminal and update the relevant parameters of the Kalman filter.

[0076] 200 sets of flight data are constructed, and the average terminal operation time is 10 minutes. The difference in the number of reserved resource slots between the channel resource reservation strategy for high-speed terminal beam switching without position assistance under low load of satellite communication system and the conventional channel resource reservation strategy is compared when the terminal initiates a switching request. Figure 6 shown.

[0077] Comparing the method of the present invention with the conventional channel resource reservation strategy for conventional high-speed terminals under high load of the satellite communication system and the switching success rate obtained in combination with the DTP algorithm when switching occurs for high-priority terminals, the switching success defined in the present invention means that in the conventional channel resource reservation strategy, the terminal initiates a switching request, and the network side reserves channel resources in the beams corresponding to all wave positions around the current wave position of the terminal. If there is at least one beam with remaining available resources that cannot meet the needs of the terminal, it is determined that the switching has failed; in the strategy proposed in the present invention, the terminal initiates a switching request, and the network side outputs the list of wave positions that the terminal may experience, and reserves channel resources in the beams corresponding to the wave positions in the list. If there is at least one beam with remaining available resources that cannot meet the needs of the terminal, it is determined that the switching has failed. Figure 7 As shown, the total bandwidth of the satellite is 150 MHz, the number of beams is 40, the frequency reuse factor is 4, and the available bandwidth of each beam is 15 MHz.

[0078] Embodiment 2: This embodiment provides a non-transitory computer-readable storage medium, on which computer instructions are stored, the computer instructions causing the computer to execute a handover resource reservation method for a low-orbit satellite system without terminal position assistance information, the method comprising the following steps:

[0079] When the terminal is initially registered to the satellite network and the terminal does not provide location information, the network side calculates the initial location information of the terminal based on the current position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0080] When the terminal initiates a handover request N times before, the network side reserves channel resources in the corresponding beams of all the beam positions around the current beam position of the terminal, and records the time interval from the initiation of the handover to the completion of the handover; the network side also continuously collects the information of the beam position where the terminal is located and updates the relevant parameters of the Kalman filter;

[0081] When the terminal initiates a handover request for the N+1th time, the network side calculates the estimated position information of the next time step based on the historical wave position information; the network side selects several wave positions that the terminal may experience based on the position information of the next time step combined with the position information of the surrounding wave positions, forms a wave position set that the terminal may experience, and reserves channel resources in the beam corresponding to each wave position in the wave position set;

[0082] When the time interval from when the terminal initiates switching to when the switching is completed is greater than a threshold, the network side reserves channel resources in all wave positions around the current wave position of the terminal, and updates the relevant parameters of the Kalman filter after the resources are successfully reserved and the terminal completes the switching.

[0083] Embodiment 3: This embodiment provides an electronic device, which may include: a processor, a communications interface, a memory, and a communication bus, wherein the processor, the communications interface, and the memory communicate with each other via the communication bus. The processor may call the logic instructions in the memory to execute a handover resource reservation method for a low-orbit satellite system without terminal position assistance information, the method comprising the following steps:

[0084] When the terminal is initially registered to the satellite network and the terminal does not provide location information, the network side calculates the initial location information of the terminal based on the current position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0085] When the terminal initiates a handover request N times before, the network side reserves channel resources in the corresponding beams of all the beam positions around the current beam position of the terminal, and records the time interval from the initiation of the handover to the completion of the handover; the network side also continuously collects the information of the beam position where the terminal is located and updates the relevant parameters of the Kalman filter;

[0086] When the terminal initiates a handover request for the N+1th time, the network side calculates the estimated position information of the next time step based on the historical wave position information; the network side selects several wave positions that the terminal may experience based on the position information of the next time step combined with the position information of the surrounding wave positions, forms a wave position set that the terminal may experience, and reserves channel resources in the beam corresponding to each wave position in the wave position set;

[0087] When the time interval from when the terminal initiates switching to when the switching is completed is greater than a threshold, the network side reserves channel resources in all wave positions around the current wave position of the terminal, and updates the relevant parameters of the Kalman filter after the resources are successfully reserved and the terminal completes the switching.

[0088] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0089] Embodiment 4: This embodiment provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can perform a handover resource reservation method for a low-orbit satellite system without terminal position assistance information. The method includes the following steps:

[0090] When the terminal is initially registered to the satellite network and the terminal does not provide location information, the network side calculates the initial location information of the terminal based on the current position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0091] When the terminal initiates a handover request N times before, the network side reserves channel resources in the corresponding beams of all the beam positions around the current beam position of the terminal, and records the time interval from the initiation of the handover to the completion of the handover; the network side also continuously collects the information of the beam position where the terminal is located and updates the relevant parameters of the Kalman filter;

[0092] When the terminal initiates a handover request for the N+1th time, the network side calculates the estimated position information of the next time step based on the historical wave position information; the network side selects several wave positions that the terminal may experience based on the position information of the next time step combined with the position information of the surrounding wave positions, forms a wave position set that the terminal may experience, and reserves channel resources in the beam corresponding to each wave position in the wave position set;

[0093] When the time interval from when the terminal initiates switching to when the switching is completed is greater than a threshold, the network side reserves channel resources in all wave positions around the current wave position of the terminal, and updates the relevant parameters of the Kalman filter after the resources are successfully reserved and the terminal completes the switching.

[0094] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0095] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for reserving handover resources in a low-orbit satellite system without terminal position assistance information, characterized in that: include: When the terminal is initially registered to the satellite network and the terminal does not provide location information, the network side calculates the initial location information of the terminal based on the current position information of the terminal and initializes the relevant parameters of the Kalman filter; When the terminal initiates a handover request N times before, the network side reserves channel resources in the corresponding beams of all the beam positions around the current beam position of the terminal, and records the time interval from the initiation of the handover to the completion of the handover; the network side also continuously collects the information of the beam position where the terminal is located and updates the relevant parameters of the Kalman filter; When the terminal initiates a handover request for the N+1th time, the network side calculates the estimated position information of the next time step based on the historical wave position information; the network side selects several wave positions that the terminal may experience based on the position information of the next time step combined with the position information of the surrounding wave positions, forms a wave position set that the terminal may experience, and reserves channel resources in the beam corresponding to each wave position in the wave position set; When the time interval from when the terminal initiates switching to when the switching is completed is greater than a threshold, the network side reserves channel resources in all wave positions around the current wave position of the terminal, and updates the relevant parameters of the Kalman filter after the resources are successfully reserved and the terminal completes the switching.

2. According to claim 1, the method for reserving handover resources in a low-orbit satellite system without terminal position assistance information is characterized in that: Initialize the Kalman filter related parameters, including the initial state estimation vector x_est, the initial state covariance matrix p-est, the time step dt, the state transfer matrix A, the observation matrix H, the process noise covariance matrix Q, and the observation noise covariance matrix R.

3. According to claim 2, the method for reserving handover resources in a low-orbit satellite system without terminal position assistance information is characterized in that: Update the Kalman filter related parameters, expressed as: x_pred=A * x_est P_pred=A*P_est * A 2 +Q K=P_pred*H 2 / (H * P_pred*H 2 +R) x_est=x_pred+K*(measurements(i,:) 2 -H * x_pred) P_est=(eye(4)-K * H)*P_pred estimated-positions(i,:)=x_est(1:2) 2 Among them, x_pred is the state estimate of the next time step based on the previous time step, which is calculated by the state transfer matrix A and the estimate of the previous state x_est; the state transfer matrix A represents the movement pattern of the terminal; P_pred is the covariance matrix of the predicted state, and Q represents the uncertainty of the prediction; K is the Kalman gain, which is used to determine the trade-off between new measurement data and predicted state; H is the observation matrix; x_est is the updated state estimate after combining the predicted state and the new measurement data, which contains the terminal's position and speed information; measurements(i,:) is the observed value of the current time step, H * x_pred maps the predicted state to the observation space for comparison with the actual observation value; P_est is the updated state covariance matrix, which represents the uncertainty of the updated state. This matrix is ​​obtained by adjusting the prediction covariance P_pred by considering the Kalman gain and the influence of observations; estimated-positions(i,:) is the position information obtained based on the predicted value and the measured value at each step.

4. According to claim 3, the method for reserving handover resources in a low-orbit satellite system without terminal position assistance information is characterized in that: The observed value is a random value within the specified range of the wave position center point coordinates and the horizontal and vertical coordinates, indicating the possible location information of the terminal.

5. According to claim 3, the method for reserving handover resources in a low-orbit satellite system without terminal position assistance information is characterized in that: When the terminal initiates a handover request for the N+1th time, the network side calculates the estimated position information of the next time step based on the historical wave position information, which is expressed as: next_x_est=A * x_est next_position=next_x_est(1:2) 2 Among them, next_x_est is the state estimation vector predicted for the next time step, and next_position is the terminal position information for the next time step.

6. The method for reserving handover resources in a low-orbit satellite system without terminal position assistance information according to claim 1, characterized in that: The network side selects several wave positions that the terminal may experience based on the position information of the next time step combined with the position information of the surrounding wave positions. The specific method is as follows: The network side constructs a strip area from the current time step to the next time step based on the position information in the state estimation vector of the current time step and the predicted terminal position information of the next time step. The strip range is the union area surrounded by the lines from the position information of the current time step to the position information of the next time step. This area is both a rough estimate of the terminal motion trajectory and the wave position that the terminal may reach in the next time step.

7. The method for reserving handover resources in a low-orbit satellite system without terminal position assistance information according to claim 1, characterized in that: When the terminal initiates a handover request N times before, the network reserves channel resources in the corresponding beams of all the beams around the current beam of the terminal. When the terminal moves to the beam with reserved channel resources and completes the handover, the time interval from the terminal initiating the handover to the handover completion is collected, which is recorded as t G ; When the time interval between the terminal switching to the current time exceeds the historical time t G When the data value is 1.5 times the average value, the network side reserves channel resources in all wave positions around the current wave position of the terminal.

8. A non-transitory computer-readable storage medium having computer instructions stored thereon, the computer instructions enabling a computer to execute the method for reserving switching resources for a low-orbit satellite system without terminal position assistance information as described in any one of claims 1-7.

9. An electronic device, comprising: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus, and the processor calls the logic instructions in the memory to execute the switching resource reservation method for a low-orbit satellite system without terminal position auxiliary information as described in any one of claims 1-7.

10. A computer program product, comprising a computer program stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer executes the switching resource reservation method for a low-orbit satellite system without terminal position assistance information as described in any one of claims 1-7.

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