Handover resource reservation method for low-orbit satellite system without terminal position assistance information

Abstract

The present invention discloses a method for reserving handover resources in a low-orbit satellite system without terminal position assistance information, comprising: when a terminal initializes and registers with a satellite network, the network side calculates the terminal's initial position based on the terminal's current wave position information; when the terminal initiates a handover request for the previous N times, the network side reserves channel resources in the beams corresponding to all wave positions surrounding the terminal's current wave position; when the terminal initiates a handover request for the N+1th time, the network side selects several wave positions that the terminal may have experienced, and reserves channel resources in the beam corresponding to each wave position in the wave position set. The present invention analyzes the historical wave position information and the time interval information from the initiation to the completion of handover of high-speed terminals that do not report their position information in the low-orbit satellite communication system, deduces the terminal's rough trajectory information, reduces the amount of channel resource reservation during the terminal handover process, and simultaneously improves the terminal handover success rate under high-load conditions of the satellite communication system.

Description

Technical Field

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

[0002] In satellite communication systems, handover management of communication resources is a key technology, ensuring seamless communication transfers between different satellites or beams, thereby maintaining connection stability and continuity. Handover management is primarily categorized into two types: inter-beam handover and inter-satellite handover. Inter-beam handover involves the transfer of a communication connection from one satellite beam to another. This type of handover typically occurs when a mobile user or satellite is moving within a fixed cell. Inter-satellite handover involves the transfer of a communication connection from one satellite to another.

[0003] During a typical handover process, the network sends measurement configuration information to the terminal, which defines the type of measurement the terminal needs to perform, the frequency, the conditions for sending measurement reports, and the reporting method. These configuration parameters provide the network with data on signal strength, quality, and neighboring cell information, facilitating handover decisions.

[0004] For high-speed terminals that do not report their location to the network, the network knows the terminal's current beam position. The terminal also knows the ground beam position. When it is about to cross the current beam position, it will proactively initiate a handover request to the network. However, unlike scenarios where the terminal's location is known, the network cannot directly determine the target beam the terminal is about to reach. When the terminal initiates a handover request, the satellite communicating with the terminal needs to reserve channel resources in all beams corresponding to the beam positions surrounding the current terminal's beam position to ensure successful handover. Due to the frequent handovers of high-speed terminals, satellites need to frequently reserve resources, and the amount of reserved channel resources is enormous. 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 purpose 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 with 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 wave position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0009] When the terminal initiates handover requests for the previous N times, the network reserves channel resources in the corresponding beams of all beam positions around the terminal's current beam position and records the time interval from the terminal's handover initiation to the handover completion. The network also continuously collects information about the terminal's beam position and updates the relevant Kalman filter parameters.

[0010] When the terminal initiates a handover request for the N+1th time, the network calculates the expected location information for the next time step based on historical beam position information. Based on the location information for the next time step and the location information of surrounding beam positions, the network selects several beam positions that the terminal may experience, forming a beam position set that the terminal may experience, and reserves channel resources in the beam corresponding to each beam position in the beam position set.

[0011] When the time interval from the terminal initiating the handover to the handover completion is greater than the threshold, the network side reserves channel resources in all wave positions around the terminal's current wave position, and updates the Kalman filter related parameters after the resources are successfully reserved and the terminal completes the handover.

[0012] A further preferred technical solution of the present invention is to initialize the relevant parameters of the Kalman filter, 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.

[0013] As a preference, update the Kalman filter related parameters, 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 velocity information; measurements(i,:) is the observation value of the current time step, and 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 observation 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 different sets of 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 based on 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] Preferably, 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:

[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 connecting the position information from 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 represents the wave position that the terminal may reach in the next time step.

[0034] As a preference, when the terminal initiates handover requests for the previous N times, the network reserves channel resources in the beams corresponding to all beam positions around the terminal's current beam position; when the terminal moves to the beam position with reserved channel resources and completes the handover, the time interval between the terminal initiating the handover and the handover completion is collected, recorded as t a ;

[0035] When the time interval between the terminal switching to the current moment exceeds the historical time interval t a When the data rate is 1.5 times the average value, the network reserves channel resources in all wave positions around the terminal's current wave position.

[0036] Another aspect of the present invention provides a non-transitory computer-readable storage medium having computer instructions stored thereon, which enable a computer to execute the above-mentioned method for reserving handover 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 assistance 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 inter-beam switching 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 a Kalman filter algorithm, the method outputs a list of beam positions that the terminal may have experienced when the terminal initiates a switch, and reserves channel resources in the beams corresponding to the beam positions in the list. Compared to the network side reserving resources in all beam positions corresponding to the terminal's current beam position each time the terminal initiates a switch, this method significantly reduces the channel resource reservation overhead and improves the target beam resource reservation success rate under high-load conditions of the satellite communication system, thereby improving the switching success rate.

[0040] The present invention adjusts the relevant parameters of the Kalman filter algorithm by inputting the terminal position information and motion information into the Kalman filter algorithm, combining the mapping of the terminal's historical wave position information to the position information, thereby improving the accuracy of the terminal position information estimation, while the algorithm complexity is low. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

[0044] Figure 4 Schematic diagram of the terminal flight trajectory and the terminal experienced wave position;

[0045] Figure 5 Based on the terminal's historical wave position information, the Kalman filter algorithm outputs the current time step position information based on the measurement value of the current time step and predicts the terminal position information of the next time step;

[0046] Figure 6 A schematic diagram comparing the number of wave bits for reserved channel resources using different methods;

[0047] Figure 7 A schematic diagram comparing the handover success rates of different methods under high load conditions in satellite communication systems;

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

[0049] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. Obviously, the embodiments described 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 making 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] The following combination 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 handover resource reservation method for a low-orbit satellite system without terminal position assistance information.

[0052] This embodiment uses Figure 1 Taking the scenario in [1] as an example, this paper introduces the terminal inter-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 are 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 50 km. Figure 3 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 and accesses the satellite network, the terminal's current wave position information is determined, and the current wave position center coordinates constitute 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 a terminal initiates its first handover request, the network reserves channel resources in all beams surrounding the terminal's current beam. It also estimates the terminal's motion information based on the time interval between the terminal's initial registration and access to the network and the initiation of the handover request. This information forms part of the initial state estimate vector x_est. The Kalman filter algorithm, combined with various parameter settings, outputs the estimated position and motion information. When the terminal switches between beams and sends a handover completion message via the target beam, the network cancels the reserved channel resources in all other beams. The network compares the estimated terminal position and motion information output by the Kalman filter algorithm with the actual terminal beam information to adjust the Kalman filter algorithm's parameter settings. 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] x_pred is the state estimate for the next time step based on the previous time step, calculated using the state transition matrix A and the previous state estimate x_est. It represents the best estimate of the system state before new measurement information is added. The state transition 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 indicates that the terminal location information is affected by external interference or prediction errors. As time passes and the system evolves, the uncertainty of the prediction increases, and this uncertainty is characterized by 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] The network reserves resources for all beam positions around the terminal's current beam position during the terminal's previous N handover requests. The network then compares the predicted position with the terminal's actual location and adjusts the Kalman filter parameters. Because measurements cannot represent the terminal's specific position at a beam position, the network uses an offset relative to the beam position's center as the measurement value and analyzes five sets of measurement data simultaneously to improve the accuracy of the terminal's trajectory prediction.

[0070] Starting from the time the terminal initiates the handover request for the N+1th time, the network side uses the Kalman filter algorithm to predict the terminal location information for the next time step. 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 and 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] Based on the prediction results, the network reserves channel resources for the terminal in the beam corresponding to the target beam position. When it is detected that the terminal switches between beams and accesses a beam with reserved channel resources, the network cancels the resource reservation in other beams. When the time interval between the terminal initiating the switch and the current moment exceeds the historical t a When the data value is 1.5 times the average value 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 beam positions around the current terminal beam position to ensure the successful switching of the high-speed terminal and update the relevant parameters of the Kalman filter.

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

[0077] Comparing the method of the present invention and the conventional channel resource reservation strategy for conventional high-speed terminals under high load of the satellite communication system, as well as the switching success rate obtained by combining the DTP algorithm when switching occurs for high-priority terminals, the switching success defined by 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 by 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 having computer instructions stored thereon. The computer instructions enable a computer to execute a method for reserving handover resources for a low-orbit satellite system without terminal position assistance information. The method comprises the following steps:

[0079] When the terminal is initially registered with 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 wave position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0080] When the terminal initiates handover requests for the previous N times, the network reserves channel resources in the corresponding beams of all beam positions around the terminal's current beam position and records the time interval from the terminal's handover initiation to the handover completion. The network also continuously collects information about the terminal's beam position and updates the relevant Kalman filter parameters.

[0081] When the terminal initiates a handover request for the N+1th time, the network calculates the expected location information for the next time step based on historical beam position information. Based on the location information for the next time step and the location information of surrounding beam positions, the network selects several beam positions that the terminal may experience, forming a beam position set that the terminal may experience, and reserves channel resources in the beam corresponding to each beam position in the beam position set.

[0082] When the time interval from the terminal initiating the handover to the handover completion is greater than the threshold, the network side reserves channel resources in all wave positions around the terminal's current wave position, and updates the Kalman filter related parameters after the resources are successfully reserved and the terminal completes the handover.

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

[0084] When the terminal is initially registered with 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 wave position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0085] When the terminal initiates handover requests for the previous N times, the network reserves channel resources in the corresponding beams of all beam positions around the terminal's current beam position and records the time interval from the terminal's handover initiation to the handover completion. The network also continuously collects information about the terminal's beam position and updates the relevant Kalman filter parameters.

[0086] When the terminal initiates a handover request for the N+1th time, the network calculates the expected location information for the next time step based on historical beam position information. Based on the location information for the next time step and the location information of surrounding beam positions, the network selects several beam positions that the terminal may experience, forming a beam position set that the terminal may experience, and reserves channel resources in the beam corresponding to each beam position in the beam position set.

[0087] When the time interval from the terminal initiating the handover to the handover completion is greater than the threshold, the network side reserves channel resources in all wave positions around the terminal's current wave position, and updates the Kalman filter related parameters after the resources are successfully reserved and the terminal completes the handover.

[0088] In addition, the logical instructions in the above-mentioned memory can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present invention, 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. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute 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 with 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 wave position information of the terminal and initializes the relevant parameters of the Kalman filter;

[0091] When the terminal initiates handover requests for the previous N times, the network reserves channel resources in the corresponding beams of all beam positions around the terminal's current beam position and records the time interval from the terminal's handover initiation to the handover completion. The network also continuously collects information about the terminal's beam position and updates the relevant Kalman filter parameters.

[0092] When the terminal initiates a handover request for the N+1th time, the network calculates the expected location information for the next time step based on historical beam position information. Based on the location information for the next time step and the location information of surrounding beam positions, the network selects several beam positions that the terminal may experience, forming a beam position set that the terminal may experience, and reserves channel resources in the beam corresponding to each beam position in the beam position set.

[0093] When the time interval from the terminal initiating the handover to the handover completion is greater than the threshold, the network side reserves channel resources in all wave positions around the terminal's current wave position, and updates the Kalman filter related parameters after the resources are successfully reserved and the terminal completes the handover.

[0094] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0095] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain 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 various 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 with 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 wave position information of the terminal and initializes the relevant parameters of the Kalman filter; When the terminal initiates handover requests for the previous N times, the network reserves channel resources in the corresponding beams of all beam positions around the terminal's current beam position and records the time interval from the terminal's handover initiation to the handover completion. The network also continuously collects information about the terminal's beam position and updates the relevant Kalman filter parameters. When the terminal initiates a handover request for the N+1th time, the network calculates the expected location information for the next time step based on historical wave position information. The network selects several wave positions that the terminal may experience based on the location information for the next time step and the location information of surrounding wave positions, forming a wave position set that the terminal may experience. 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. This strip area is the union area surrounded by the lines connecting 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's motion trajectory and represents the wave position that the terminal may reach in the next time step. Reserving channel resources in the beam corresponding to each beam position in the beam position set; When the time interval from the terminal initiating the handover to the handover completion is greater than the threshold, the network side reserves channel resources in all wave positions around the terminal's current wave position, and updates the Kalman filter related parameters after the resources are successfully reserved and the terminal completes the handover.

2. The method for reserving handover resources in a low-orbit satellite system without terminal position assistance information according to claim 1, characterized in that: Initialize Kalman filter related parameters, including the initial state estimation vector , initial state covariance matrix , time step , the state transition matrix representing the movement pattern of the terminal , observation matrix , the process noise covariance matrix that characterizes the uncertainty of the prediction , and the observation noise covariance matrix .

3. The method for reserving handover resources in a low-orbit satellite system without terminal position assistance information according to claim 2, characterized in that: Update the Kalman filter related parameters, expressed as: ； ； ； ； ； ； in, It is the state estimation of the next time step based on the previous time step, through the state transfer matrix Calculated with the previous state estimation vector; is the covariance matrix of the predicted state; is the Kalman gain, which is used to determine the trade-off between new measurement data and the predicted state; It is the updated state estimate after combining the predicted state and the new measurement data, including the terminal's position and velocity information; is the observation value at the current time step, Map the predicted state to the observation space for comparison with the actual observation value; is the updated state covariance matrix, which represents the uncertainty of the updated state. This matrix adjusts the covariance matrix of the predicted state by considering the Kalman gain and the influence of observations. get; The position information obtained for each step is calculated based on the predicted value and the measured value.

4. The method for reserving handover resources in a low-orbit satellite system without terminal position assistance information according to claim 3, characterized in that: The observation 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. The method for reserving handover resources in a low-orbit satellite system without terminal position assistance information according to claim 3, characterized in that: When the terminal initiates a handover request for the N+1th time, the network side calculates the expected position information for the next time step based on the historical wave position information, which is expressed as: ； ； in, To predict the state estimation vector for the next time step, is the terminal position information of 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: When the terminal initiates a handover request N times before, the network reserves channel resources in the corresponding beams of all the beam positions around the terminal's current beam position. When the terminal moves to the beam position with reserved channel resources and completes the handover, the time interval from the terminal initiating the handover to the handover completion is collected and recorded as ; When the time interval between the terminal switching to the current moment exceeds the historical When the data rate is 1.5 times the average value, the network reserves channel resources in all wave positions around the terminal's current wave position.

7. A non-transitory computer-readable storage medium having computer instructions stored thereon, which enable a computer to execute the switching resource reservation method for a low-orbit satellite system without terminal position assistance information as described in any one of claims 1-6.

8. 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 via the communication bus, and the processor calls logic instructions in the memory to execute the handover resource reservation method for a low-orbit satellite system without terminal position assistance information as described in any one of claims 1-6.

9. A computer program product, comprising 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 switching resource reservation method for a low-orbit satellite system without terminal position assistance information as described in any one of claims 1-6.

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