System construction method, processing method, switching method, device, equipment and medium

Abstract

The invention provides a system construction method, a processing method, a switching method, devices, equipment and a medium, and relates to the technical field of wireless communication. The task processing method based on cooperation of the high-altitude platform and the low-orbit satellite comprises the following steps: selecting a cluster head satellite of a low-orbit satellite cluster to be established in a visual range; collecting to-be-processed tasks of the user in the visual range; negotiating with a cluster head satellite based on the calculation resource quantity of the to-be-processed task so as to establish a low-orbit satellite cluster; receiving an in-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, and allocating a task processing scheme of a to-be-processed task to in-cluster nodes in the low-orbit satellite cluster based on the in-cluster node information table; and sending the task processing scheme to the cluster head satellite, so that the cluster head satellite distributes the task processing scheme to the corresponding intra-cluster node. According to the technical scheme of the invention, the available communication and computing resources of the low-orbit satellite cluster can be increased, and the task processing capability of an air-ground integrated converged communication network system can be improved.

Description

Background Art

[0002] The integrated air-ground communication network includes low-orbit satellites (LEO) and high-altitude platforms (HAP). Due to the characteristics of mobility and low latency, high-altitude platforms are more suitable as network collaborative control points than low-orbit satellites, so as to provide reliable and low-latency computing services for user terminals in blind areas of ground network coverage in conjunction with low-orbit satellites. As a collaborative control point, the high-altitude platform is responsible for selecting cluster head satellites and interacting with cluster head satellites to form and manage low-orbit satellite clusters. The low-orbit satellite cluster is composed of low-orbit satellites within the visible range of the collaborative control point. The selected cluster head satellite needs to manage the low-orbit satellite cluster. However, due to the limited number of low-orbit satellites within the visible range of the collaborative control point, the scale and task processing capabilities of the low-orbit satellite cluster are subject to certain restrictions.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The purpose of the present disclosure is to provide a system construction method, task processing method, cluster head satellite switching method, device, network equipment, terminal and storage medium based on the collaboration of high-altitude platforms and low-orbit satellites, which at least to a certain extent overcome the problems of limited scale and task processing capabilities of low-orbit satellite clusters in related technologies.

[0005] Other features and advantages of the present disclosure will become apparent from the following detailed description, or may be learned in part by the practice of the present disclosure.

[0006] According to one aspect of the present disclosure, there is provided a method for constructing a collaborative system based on a high-altitude platform and low-orbit satellites, which is applied to the high-altitude platform and includes: selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range; collecting pending tasks of users within the visible range; and negotiating with the cluster head satellite based on the amount of computing resources for the pending tasks, so that the cluster head satellite forms the low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relationships.

[0007] In one embodiment, the selecting of a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range includes: sending an information collection instruction to the visible low-orbit satellites within the visible range; receiving cluster head qualification parameters fed back by the visible low-orbit satellites within the visible range, the cluster head qualification parameters including at least one of the remaining service time relative to the high-altitude platform, the channel state information between the high-altitude platform and the high-altitude platform, the number of satellites having the neighbor relationship and the available computing resources; and selecting the cluster head satellite based on the cluster head qualification parameters.

[0008] In one embodiment, the selecting the cluster head satellite based on the cluster head qualification parameters includes: determining a first candidate cluster head satellite queue that meets the cluster head qualification requirements based on the cluster head qualification parameters; determining the head node of the first candidate cluster head satellite queue as a candidate cluster head satellite, and sending a cluster head request signaling; receiving indication information fed back by the candidate cluster head satellite based on the cluster head request signaling; if the indication information is an approval indication, sending a confirmation signaling to the candidate cluster head satellite to confirm that the candidate cluster head satellite becomes the cluster head satellite; if the indication information is a rejection indication, reselecting the cluster head satellite from the first candidate cluster head satellite queue.

[0009] In one embodiment, determining the first candidate cluster head satellite queue that meets the cluster head qualification requirements based on the cluster head qualification parameters includes: calculating the first qualification decision value of the cluster head qualification parameters of the visible low-orbit satellites; sorting the visible low-orbit satellites whose first qualification decision value is greater than the qualification threshold to obtain the first candidate cluster head satellite queue that meets the cluster head qualification requirements.

[0010] In one embodiment, the collecting of pending tasks of users within the visible range includes: sending a task collection signal to collect pending tasks of users within the visible range; and obtaining the delay constraint, task data volume and required number of CPU cycles of the pending tasks.

[0011] In one embodiment, the negotiation with the cluster head satellite based on the computing resource amount of the task to be processed so that the cluster head satellite can form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship includes: calculating the computing resource amount of the task to be processed based on the delay constraint, the task data amount and the number of CPU cycles; sending the computing resource amount to the cluster head satellite to receive the construction signaling fed back by the cluster head satellite based on the computing resource amount and the inter-satellite neighbor relationship, the construction signaling is used to indicate that the low-orbit satellite cluster has been established, and the construction signaling also includes node information of the low-orbit satellite cluster.

[0012] According to another aspect of the present disclosure, a collaborative system construction method based on the collaboration between a high-altitude platform and a low-orbit satellite is provided, which is applied to cluster head satellites, including: confirming the cluster head satellite as the low-orbit satellite cluster to be constructed; negotiating with the high-altitude platform based on the computing resource amount of the tasks to be processed collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0013] In one embodiment, the confirmation as the cluster head satellite of the low-orbit satellite cluster to be constructed includes: receiving a cluster head request signaling sent by the high-altitude platform; obtaining the estimated task processing occupancy information carried by the cluster head request signaling; judging whether to agree to become the cluster head satellite based on the estimated task processing occupancy information; if agreeing to become the cluster head satellite, feeding back indication information of the consent indication to the high-altitude platform; receiving a confirmation signaling sent by the high-altitude platform to confirm becoming the cluster head satellite.

[0014] In one embodiment, the amount of computing resources based on the tasks to be processed collected by the high-altitude platform is negotiated with the high-altitude platform to form the low-orbit satellite cluster based on the amount of computing resources and the inter-satellite neighbor relationship, including: sending an information collection instruction to the low-orbit satellite with the inter-satellite neighbor relationship; receiving satellite qualification parameters fed back by the low-orbit satellite based on the information collection instruction, the satellite qualification parameters including the remaining service time and available computing resources of the low-orbit satellite relative to the cluster head satellite; calculating the second qualification decision value of each of the low-orbit satellites based on the satellite qualification parameters; sorting the multiple low-orbit satellites from high to low according to the second qualification decision value to generate a candidate member node queue; and forming the low-orbit satellite cluster based on the candidate member node queue and the amount of computing resources.

[0015] In one embodiment, the forming of the low-orbit satellite cluster based on the candidate member node queue and the computing resource amount includes: starting a node clustering process, taking the head node in the candidate member node queue as the target node, and sending a clustering request to the target node; if a clustering signaling is received indicating that the target node accepts clustering, adding the target node to the low-orbit satellite cluster, and removing the target node from the candidate member node queue, wherein the clustering signaling includes the satellite qualification parameters; if a rejection signaling is received indicating that the target node rejects clustering, removing the target node from the candidate member node queue, and re-determining a new head node in the new candidate member node queue as the target node; judging whether the existing low-orbit satellite cluster meets the task requirements based on the computing resource amount; if the task requirements are not met, continuing to add new target nodes to the low-orbit satellite cluster until the low-orbit satellite cluster that meets the task requirements is formed, and generating a corresponding in-cluster node information table.

[0016] In one embodiment, it also includes: maintaining the low-orbit satellite cluster based on the intra-cluster node information table.

[0017] In one embodiment, maintaining the low-orbit satellite cluster based on the intra-cluster node information table includes: receiving a willingness indication instruction reported by an intra-cluster node in the low-orbit satellite cluster within a preset time interval, the willingness indication instruction is used to indicate whether the intention is to continue to serve as the intra-cluster node; if willing to continue to serve as the intra-cluster node, obtaining the updated satellite qualification parameters carried by the willingness indication instruction, and updating the corresponding satellite qualification parameters in the intra-cluster node information table to update the low-orbit satellite cluster; if unwilling to continue to serve as the intra-cluster node, initiating a node exit process, and deleting the corresponding intra-cluster node in the intra-cluster node information table to update the low-orbit satellite cluster.

[0018] In one embodiment, the initiating node exit process includes: determining a node that is unwilling to continue to serve as a node in the cluster as a node to be exited, and sending an exit signaling to the node to be exited; receiving the remaining task amount from the node to be exited based on the exit signaling feedback; customizing a task transfer decision to inform the node to be exited to transfer the remaining task amount to another node in the cluster for processing; and receiving feedback signaling from the node to be exited, wherein the feedback signaling is used to indicate that the other node in the cluster has received the remaining task amount to update the low-orbit satellite cluster.

[0019] In one embodiment, it also includes: determining the sending node of the intention indication instruction that has not been received within the preset time interval as a lost cluster node, deleting the lost cluster node in the cluster node information table to update the low-orbit satellite cluster.

[0020] In one embodiment, it also includes: detecting whether the updated low-orbit satellite cluster meets the mission requirements based on the updated intra-cluster node information table; if it does not meet the mission requirements, selecting the low-orbit satellite to join the low-orbit satellite cluster based on a second qualification decision value.

[0021] According to another aspect of the present disclosure, there is provided a task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite, which is applied to the high-altitude platform, and includes: selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range; collecting tasks to be processed of users within the visible range; negotiating with the cluster head satellite based on the amount of computing resources for the tasks to be processed, so that the cluster head satellite forms the low-orbit satellite cluster based on the computing resources and inter-satellite neighbor relationships; receiving an intra-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, so as to allocate a task processing plan for the tasks to be processed to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; and sending the task processing plan to the cluster head satellite, so that the cluster head satellite distributes the task processing plan to the corresponding intra-cluster nodes.

[0022] In one embodiment, the selecting of a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range includes: sending an information collection instruction to the visible low-orbit satellites within the visible range; receiving cluster head qualification parameters fed back by the visible low-orbit satellites within the visible range, the cluster head qualification parameters including at least one of the remaining service time relative to the high-altitude platform, the channel state information between the high-altitude platform and the high-altitude platform, the number of satellites having the neighbor relationship and the available computing resources; and selecting the cluster head satellite based on the cluster head qualification parameters.

[0023] In one embodiment, the selecting the cluster head satellite based on the cluster head qualification parameters includes: determining a first candidate cluster head satellite queue that meets the cluster head qualification requirements based on the cluster head qualification parameters; determining the head node of the first candidate cluster head satellite queue as a candidate cluster head satellite, and sending a cluster head request signaling; receiving indication information fed back by the candidate cluster head satellite based on the cluster head request signaling; if the indication information is an approval indication, sending a confirmation signaling to the candidate cluster head satellite to confirm that the candidate cluster head satellite becomes the cluster head satellite; if the indication information is a rejection indication, reselecting the cluster head satellite from the first candidate cluster head satellite queue.

[0024] In one embodiment, determining the first candidate cluster head satellite queue that meets the cluster head qualification requirements based on the cluster head qualification parameters includes: calculating the first qualification decision value of the cluster head qualification parameters of the visible low-orbit satellites; sorting the visible low-orbit satellites whose first qualification decision value is greater than the qualification threshold to obtain the first candidate cluster head satellite queue that meets the cluster head qualification requirements.

[0025] In one embodiment, the collecting of pending tasks of users within the visible range includes: sending a task collection signal to collect pending tasks of users within the visible range; and obtaining the delay constraint, task data volume and required number of CPU cycles of the pending tasks.

[0026] In one embodiment, the negotiation with the cluster head satellite based on the computing resource amount of the task to be processed so that the cluster head satellite can form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship includes: calculating the computing resource amount of the task to be processed based on the delay constraint, the task data amount and the number of CPU cycles; sending the computing resource amount to the cluster head satellite to receive the construction signaling fed back by the cluster head satellite based on the computing resource amount and the inter-satellite neighbor relationship, the construction signaling is used to indicate that the low-orbit satellite cluster has been established, and the construction signaling also includes node information of the low-orbit satellite cluster.

[0027] In one embodiment, the receiving device receives the intra-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, and allocates the task processing plan of the pending task to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table, including: calculating the first transmission delay for unloading the pending task to the cluster head satellite based on the channel bandwidth and channel gain between the cluster head satellite and the cluster head satellite, and the transmission power for unloading the pending task to the cluster head satellite; formulating the task processing plan for the pending task, and selecting the intra-cluster node in the low-orbit satellite cluster that executes the task processing plan based on the first transmission delay.

[0028] In one embodiment, sending the task processing plan to the cluster head satellite includes: constructing a task queue node based on the delay constraint, the task data volume and the required number of CPU cycles; constructing a task queue based on a plurality of the task queue nodes; and sending the task queue together with the task processing plan to the cluster head satellite.

[0029] In one embodiment, the method further includes: receiving the execution result of the task processing solution by the cluster head satellite based on the collected nodes within the cluster.

[0030] According to another aspect of the present disclosure, there is provided a task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite, which is applied to a cluster head satellite, and includes: confirming the cluster head satellite as a low-orbit satellite cluster to be constructed; negotiating with the high-altitude platform based on the amount of computing resources of the tasks to be processed collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the computing resources and inter-satellite neighbor relationships; feeding back the intra-cluster node information table of the low-orbit satellite cluster to the high-altitude platform, so that the high-altitude platform allocates the task processing plan of the tasks to be processed to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; receiving the task processing plan sent by the high-altitude platform; and distributing the task processing plan to the corresponding intra-cluster nodes.

[0031] In one embodiment, the confirmation as the cluster head satellite of the low-orbit satellite cluster to be constructed includes: receiving a cluster head request signaling sent by the high-altitude platform; obtaining the estimated task processing occupancy information carried by the cluster head request signaling; judging whether to agree to become the cluster head satellite based on the estimated task processing occupancy information; if agreeing to become the cluster head satellite, feeding back indication information of the consent indication to the high-altitude platform; receiving a confirmation signaling sent by the high-altitude platform to confirm becoming the cluster head satellite.

[0032] In one embodiment, the amount of computing resources based on the tasks to be processed collected by the high-altitude platform is negotiated with the high-altitude platform to form the low-orbit satellite cluster based on the amount of computing resources and the inter-satellite neighbor relationship, including: sending an information collection instruction to the low-orbit satellite with the inter-satellite neighbor relationship; receiving satellite qualification parameters fed back by the low-orbit satellite based on the information collection instruction, the satellite qualification parameters including the remaining service time and available computing resources of the low-orbit satellite relative to the cluster head satellite; calculating the second qualification decision value of each of the low-orbit satellites based on the satellite qualification parameters; sorting the multiple low-orbit satellites from high to low according to the second qualification decision value to generate a candidate member node queue; and forming the low-orbit satellite cluster based on the candidate member node queue and the amount of computing resources.

[0033] In one embodiment, the forming of the low-orbit satellite cluster based on the candidate member node queue and the computing resource amount includes: starting a node clustering process, taking the head node in the candidate member node queue as the target node, and sending a clustering request to the target node; if a clustering signaling is received indicating that the target node accepts clustering, adding the target node to the low-orbit satellite cluster, and removing the target node from the candidate member node queue, wherein the clustering signaling includes the satellite qualification parameter; if a rejection signaling is received indicating that the target node rejects clustering, removing the target node from the candidate member node queue, and re-determining a new head node in the new candidate member node queue as the target node; judging whether the existing low-orbit satellite cluster meets the task requirements based on the computing resource amount; if the task requirements are not met, continuing to add new target nodes to the low-orbit satellite cluster until the low-orbit satellite cluster that meets the task requirements is formed, and generating a corresponding in-cluster node information table.

[0034] In one embodiment, it also includes: maintaining the low-orbit satellite cluster based on the intra-cluster node information table.

[0035] In one embodiment, maintaining the low-orbit satellite cluster based on the intra-cluster node information table includes: receiving a willingness indication instruction reported by an intra-cluster node in the low-orbit satellite cluster within a preset time interval, the willingness indication instruction is used to indicate whether the intention is to continue to serve as the intra-cluster node; if willing to continue to serve as the intra-cluster node, obtaining the updated satellite qualification parameters carried by the willingness indication instruction, and updating the corresponding satellite qualification parameters in the intra-cluster node information table to update the low-orbit satellite cluster; if unwilling to continue to serve as the intra-cluster node, initiating a node exit process, and deleting the corresponding intra-cluster node in the intra-cluster node information table to update the low-orbit satellite cluster.

[0036] In one embodiment, the initiating node exit process includes: determining a node that is unwilling to continue to serve as a node in the cluster as a node to be exited, and sending an exit signaling to the node to be exited; receiving the remaining task amount from the node to be exited based on the exit signaling feedback; customizing a task transfer decision to inform the node to be exited to transfer the remaining task amount to another node in the cluster for processing; and receiving feedback signaling from the node to be exited, wherein the feedback signaling is used to indicate that the other node in the cluster has received the remaining task amount to update the low-orbit satellite cluster.

[0037] In one embodiment, it also includes: determining the sending node of the intention indication instruction that has not been received within the preset time interval as a lost cluster node, deleting the lost cluster node in the cluster node information table to update the low-orbit satellite cluster.

[0038] In one embodiment, it also includes: detecting whether the updated low-orbit satellite cluster meets the mission requirements based on the updated intra-cluster node information table; if it does not meet the mission requirements, selecting the low-orbit satellite to join the low-orbit satellite cluster based on a second qualification decision value.

[0039] In one embodiment, distributing the task processing scheme to the corresponding nodes in the cluster includes: for each node in the cluster, calculating the second transmission delay for sending the task to be processed from the cluster head satellite to the node in the cluster; calculating the minimum computing frequency required for the node in the cluster to process the task to be processed based on the second transmission delay and the first transmission delay, wherein the first transmission delay is the transmission delay for unloading the task to be processed from the high-altitude platform to the cluster head satellite; traversing the nodes in the cluster based on the available computing frequency and the minimum computing frequency to determine the corresponding node in the cluster based on the traversal result; distributing the task processing scheme and the corresponding delay constraints, task data volume and required number of CPU cycles to the corresponding nodes in the cluster.

[0040] In one embodiment, the method further includes: collecting the execution results of the task processing solution by the nodes in the cluster and sending the results to the high-altitude platform.

[0041] According to another aspect of the present disclosure, a cluster head satellite switching method based on the collaboration of a high-altitude platform and a low-orbit satellite is provided, which is applied to the high-altitude platform, and includes: selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range as an original cluster head satellite, so that the low-orbit satellite cluster is formed by the original cluster head satellite based on inter-satellite neighbor relations; calculating a first qualification decision value of the original cluster head satellite; and determining whether to perform a cluster head satellite switching operation based on the relationship between the first qualification decision value and a qualification threshold.

[0042] In one embodiment, the determining whether to perform a cluster head satellite switching operation based on the relationship between the first qualification decision value and the qualification threshold includes: if the first qualification decision value is greater than or equal to the qualification threshold, determining that the original cluster head satellite continues to maintain the low-orbit satellite cluster; if the first qualification decision value is less than the qualification threshold, initiating a cluster head satellite switching process to perform the cluster head satellite switching operation.

[0043] In one embodiment, the process of initiating cluster head satellite switching includes: sending information collection instructions to visible low-orbit satellites other than the original cluster head satellites within the visible range; receiving cluster head qualification parameters fed back by visible low-orbit satellites within the visible range, the cluster head qualification parameters including at least one of the remaining service time relative to the high-altitude platform, the channel state information between the high-altitude platform, the number of satellites with the neighbor relationship and the available computing resources; determining a second candidate cluster head satellite queue that meets the switching qualification requirements based on the cluster head qualification parameters, so as to perform a cluster head satellite switching operation based on the second candidate cluster head satellite queue.

[0044] In one embodiment, the performing of the cluster head satellite switching operation based on the second candidate cluster head satellite queue includes: sending a cluster head switching signaling to the original cluster head satellite, the cluster head switching signaling including the second candidate cluster head satellite queue, so that the original cluster head satellite retrieves the second candidate cluster head satellite queue and the same satellite in the low-orbit satellite cluster, and constructs a candidate satellite queue by the same satellite; receiving the candidate satellite queue sent by the original cluster head satellite; calculating the first qualification decision value of the same satellite in the candidate satellite queue; adjusting the order of the candidate satellite queue from high to low based on the first qualification decision value to obtain an adjusted satellite queue; determining the head satellite of the adjusted satellite queue as the target cluster head satellite; sending a cluster head request signaling to the target cluster head satellite; receiving indication information fed back by the target cluster head satellite based on the cluster head request signaling; if the indication information is an approval indication, sending a confirmation signaling to the target cluster head satellite to confirm that the target cluster head satellite becomes the new cluster head satellite after the switch; if the indication information is a rejection indication, reselecting the target cluster head satellite from the adjusted satellite queue.

[0045] In one embodiment, the performing of the cluster head satellite switching operation based on the second candidate cluster head satellite queue also includes: sending the identity information of the new cluster head satellite to the original cluster head satellite, so that the original cluster head satellite initiates a migration operation of the task processing solution to the new cluster head satellite based on the identity information; receiving a switching success confirmation signaling fed back by the new cluster head satellite based on the migration operation, wherein the switching success confirmation signaling is used to indicate that the cluster head satellite switching operation is completed, wherein the new cluster head satellite determines whether the existing low-orbit satellite cluster meets the task requirements based on the computing resource amount, so as to add a new target node with the optimal second qualification decision value to the low-orbit satellite cluster when the task requirements are not met, until the low-orbit satellite cluster that meets the task requirements is formed.

[0046] According to another aspect of the present disclosure, there is provided a cluster head satellite switching method based on the collaboration of a high-altitude platform and a low-orbit satellite, which is applied to the cluster head satellite, and includes: forming a low-orbit satellite cluster based on inter-satellite neighbor relationships; receiving a switching evaluation indication sent by the high-altitude platform, wherein the switching evaluation indication is generated based on the relationship between a first qualification decision value and a qualification threshold of the cluster head satellite.

[0047] In one embodiment, the receiving of the switching evaluation indication sent by the high-altitude platform includes: if the switching evaluation indication is used to maintain the cluster head satellite, continuing to maintain the low-orbit satellite cluster; if the switching evaluation indication is used to switch the cluster head satellite, the switching evaluation indication includes cluster head switching signaling, and the cluster head switching signaling includes a second candidate cluster head satellite queue; retrieving the same satellite in the second candidate cluster head satellite queue and the low-orbit satellite cluster, and constructing a candidate satellite queue from the same satellite; and sending the candidate satellite queue to the high-altitude platform.

[0048] In one embodiment, the method further includes: receiving identity information of a new cluster head satellite sent by the high-altitude platform; and initiating a migration operation of a task processing solution to the new cluster head satellite based on the identity information.

[0049] According to another aspect of the present disclosure, there is provided a collaborative system construction device based on a high-altitude platform and a low-orbit satellite, which is applied to the high-altitude platform and includes: a first selection module, used to select a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range; a collection module, used to collect pending tasks of users within the visible range; and a first negotiation module, used to negotiate with the cluster head satellite based on the amount of computing resources of the pending tasks, so that the cluster head satellite can form the low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relationships.

[0050] According to another aspect of the present disclosure, there is provided a collaborative system construction device based on a high-altitude platform and a low-orbit satellite, which is applied to a cluster head satellite, and includes: a confirmation module, used to confirm the cluster head satellite as the low-orbit satellite cluster to be constructed; and a second negotiation module, used to negotiate with the high-altitude platform based on the computing resource amount of the tasks to be processed collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0051] According to another aspect of the present disclosure, there is provided a task processing device based on the collaboration of a high-altitude platform and a low-orbit satellite, which is applied to the high-altitude platform and includes: a first selection module, used to select a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range; a collection module, used to collect tasks to be processed of users within the visible range; a first negotiation module, used to negotiate with the cluster head satellite based on the amount of computing resources of the tasks to be processed, so that the cluster head satellite forms the low-orbit satellite cluster based on the computing resources and inter-satellite neighbor relationships; an allocation module, used to receive an intra-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, so as to allocate a task processing plan of the tasks to be processed to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; and a sending module, used to send the task processing plan to the cluster head satellite, so that the cluster head satellite distributes the task processing plan to the corresponding intra-cluster nodes.

[0052] According to another aspect of the present disclosure, there is provided a task processing device based on the collaboration of a high-altitude platform and a low-orbit satellite, which is applied to a cluster head satellite, and includes: a confirmation module, used to confirm the cluster head satellite as a low-orbit satellite cluster to be constructed; a second negotiation module, used to negotiate with the high-altitude platform based on the amount of computing resources of the tasks to be processed collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the computing resources and inter-satellite neighbor relations; a feedback module, used to feed back the intra-cluster node information table of the low-orbit satellite cluster to the high-altitude platform, so that the high-altitude platform can allocate the task processing scheme of the tasks to be processed to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; a first receiving module, used to receive the task processing scheme sent by the high-altitude platform; and a distribution module, used to distribute the task processing scheme to the corresponding intra-cluster nodes.

[0053] According to another aspect of the present disclosure, there is provided a cluster head satellite switching device based on the collaboration of a high-altitude platform and a low-orbit satellite, which is applied to the high-altitude platform and includes: a second selection module, used to select a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range as an original cluster head satellite, so that the low-orbit satellite cluster is formed by the original cluster head satellite based on the inter-satellite neighbor relationship; a calculation module, used to calculate a first qualification decision value of the original cluster head satellite; and a switching module, used to determine whether to perform a cluster head satellite switching operation based on the relationship between the first qualification decision value and a qualification threshold.

[0054] According to another aspect of the present disclosure, there is provided a cluster head satellite switching device based on the collaboration of a high-altitude platform and a low-orbit satellite, which is applied to a cluster head satellite and includes: a building module for building a low-orbit satellite cluster based on inter-satellite neighbor relationships; and a second receiving module for receiving a switching evaluation indication sent by the high-altitude platform, wherein the switching evaluation indication is generated based on the relationship between a first qualification decision value and a qualification threshold of the cluster head satellite.

[0055] According to another aspect of the present disclosure, a high-altitude platform is provided, comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to execute the above-mentioned task processing method based on collaboration between the high-altitude platform and low-orbit satellites and / or cluster head satellite switching method by executing the executable instructions.

[0056] According to another aspect of the present disclosure, a low-orbit satellite is provided, comprising: a processor; and a memory for storing executable instructions of the processor; the processor is configured to execute the above-mentioned mission processing method based on collaboration between a high-altitude platform and a low-orbit satellite and / or cluster head satellite switching method by executing the executable instructions.

[0057] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the task processing method based on the collaboration of the high-altitude platform and the low-orbit satellite and / or the cluster head satellite switching method are implemented.

[0058] The embodiments of the present disclosure provide a task processing and cluster head satellite switching solution based on the collaboration of a high-altitude platform and low-orbit satellites. The high-altitude platform selects a cluster head satellite of a low-orbit satellite cluster from the low-orbit satellites within its visible range, and then determines the scale of the low-orbit satellite cluster to be constructed according to the computing resources of the user's tasks to be processed, so as to interact with the cluster head satellite and realize the formation of a low-orbit satellite cluster. The low-orbit satellites constituting the low-orbit satellite cluster are no longer limited by the visible range of the high-altitude platform, but are selected from the adjacent satellites of the cluster head satellite according to task requirements. This is beneficial to increase the number of choices and selection flexibility of nodes within the cluster, and further helps to increase the available communication and computing resources of the low-orbit satellite cluster, and enhance the task processing capability of the air-ground integrated communication network system.

[0059] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0061] Figure 1 A schematic diagram of a task processing system based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0062] Figure 2 A flow chart of a method for constructing a collaborative system based on a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0063] Figure 3 Another flowchart of a method for constructing a collaborative system based on a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0064] Figure 4 A flowchart of a task processing method based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0065] Figure 5 Another flowchart of a task processing method based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0066] Figure 6 A flowchart of another task processing method based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0067] Figure 7 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0068] Figure 8 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0069] Fig. 9 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0070] Fig.10 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0071] Fig.11 A flow chart of a cluster head satellite switching method based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0072] Fig.12 Another flow chart of a cluster head satellite switching method based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0073] Fig.13 A flow chart of another cluster head satellite switching method based on the collaboration between a high altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0074] Fig.14 A schematic diagram of a high-altitude platform device in an embodiment of the present disclosure is shown;

[0075] Fig.15 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0076] Fig.16 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0077] Fig.17 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0078] Fig.18 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0079] Fig.19A schematic diagram showing another task processing system based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0080] Fig. 20 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0081] Fig.21 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0082] Fig. 22 A flowchart of another task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0083] Fig.23 A schematic diagram of a task processing device based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0084] Fig.24 A schematic diagram of another task processing device based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0085] Fig.25 A schematic diagram of a task processing device based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0086] Fig.26 A schematic diagram of another task processing device based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0087] Fig. 27 A schematic diagram of a cluster head satellite switching device based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0088] Fig.28 A schematic diagram of another cluster head satellite switching device based on the collaboration of a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown;

[0089] Fig.29 A structural block diagram of a network device in an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0090] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0091] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0092] In the integrated air-ground communication network, both low-Earth Orbit (LEO) and high-altitude platforms (HAP) can carry core network UPF network elements and edge servers, and have the ability to collaborate to provide network access, communication, and computing for blind areas of ground network coverage. Because high-altitude platforms have outstanding advantages such as mobility and low latency, and are geographically closer to the user side, they are more suitable as network collaboration control centers than low-orbit satellites, and work with low-orbit satellites to provide reliable, low-latency computing services for user terminals in blind areas of ground network coverage. Moreover, a satellite cluster composed of multiple adjacent low-orbit satellites can provide more reliable and powerful task processing capabilities.

[0093] When the high-altitude platform collaborates with the low-orbit satellite cluster to process tasks, the high-altitude platform, as a collaborative control point, is responsible for collecting computing tasks from users in the coverage area on the one hand, and selecting cluster head satellites on the other hand, and interacting with the cluster head satellites to form and manage the low-orbit satellite cluster, including: joining, exiting and task allocation of satellite nodes in the cluster.

[0094] Typically, a low-orbit satellite cluster is composed of low-orbit satellites within the visible range of a control point, and a cluster head satellite is elected within the cluster for management. However, due to the limited number of low-orbit satellites within the visible range of the control point, the scale and mission processing capabilities of the low-orbit satellite cluster are constrained accordingly.

[0095] According to the technical solution disclosed in the present invention, by multiplexing the existing fields of the uplink scheduling DCI to complete the waveform switching indication, the efficient and flexible switching and the stable communication performance are guaranteed.

[0096] Figure 1 A schematic diagram of an air-ground integrated fusion communication network system in an embodiment of the present disclosure is shown.

[0097] like Figure 1 As shown, the air-ground integrated fusion communication network system includes a high-altitude platform 102 and a low-orbit satellite cluster, wherein the low-orbit satellite cluster includes multiple low-orbit satellites, and the multiple low-orbit satellites include a cluster head satellite 104 and multiple low-orbit satellites 106 as nodes within the cluster.

[0098] Compared with high-orbit (GEO) satellites and medium-orbit (MEO) satellites, low-orbit satellites are closer to the ground, have shorter communication delays, and higher data transmission rates. Furthermore, by introducing high-altitude platforms (HAPs) to offload computing tasks from low-orbit satellites, high-altitude platforms at an altitude of 17-30km can serve as relay stations to transfer resources between low-orbit satellite systems and ground stations. The introduction of high-altitude platforms can reduce transmission delays and tropospheric interference.

[0099] When the high-altitude platform 102 collaborates with the low-orbit satellite cluster to process tasks, the high-altitude platform 102, as a collaborative control point, is responsible for collecting computing tasks of users in the coverage area on the one hand, and selecting cluster head satellites 104 on the other hand, and interacting with the cluster head satellites 104 to form and manage the low-orbit satellite cluster, including the joining, exiting and task allocation of low-orbit satellites 106 in the cluster.

[0100] If the low-orbit satellite cluster is composed of low-orbit satellites within the visible range of the high-altitude platform 102, and a cluster head satellite is elected in the cluster for management, but due to the limited number of low-orbit satellites within the visible range of the high-altitude platform 102, the scale and task processing capacity of the low-orbit satellite cluster are correspondingly constrained. Therefore, in the present disclosure, Figure 1 As shown, only cluster head satellites 104 are selected within the visible range of the high-altitude platform 102.

[0101] Below, each step of the task processing method based on the collaboration of the high-altitude platform and the low-orbit satellite in this example implementation will be described in more detail with reference to the accompanying drawings and embodiments.

[0102] like Figure 2 As shown, according to an embodiment of the present disclosure, a method for constructing a collaborative system based on a high-altitude platform and a low-orbit satellite is applied to a high-altitude platform, and includes:

[0103] Step S202: selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range.

[0104] Step S204: collecting tasks to be processed of users within the visible range.

[0105] Step S206: negotiate with the cluster head satellite based on the computing resource amount of the task to be processed, so that the cluster head satellite forms a low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0106] In this embodiment, a cluster head satellite of a low-orbit satellite cluster is selected from the low-orbit satellites within its visible range by a high-altitude platform, and then the scale of the low-orbit satellite cluster to be constructed is determined according to the computing resources of the user's tasks to be processed, so as to interact with the cluster head satellite and realize the formation of a low-orbit satellite cluster. A cluster head satellite of a low-orbit satellite cluster is selected from the low-orbit satellites within its visible range by a high-altitude platform, and then the scale of the low-orbit satellite cluster to be constructed is determined according to the computing resources of the user's tasks to be processed, so as to interact with the cluster head satellite and realize the formation of a low-orbit satellite cluster.

[0107] In one embodiment, a cluster head satellite of a low-orbit satellite cluster to be formed is selected within a visible range, including: sending an information collection instruction to the visible low-orbit satellites within the visible range; receiving cluster head qualification parameters fed back by the visible low-orbit satellites within the visible range, the cluster head qualification parameters including at least one of the remaining service time relative to the high-altitude platform, the channel state information between the high-altitude platform, the number of satellites with neighboring relationships, and available computing resources; and selecting the cluster head satellite based on the cluster head qualification parameters.

[0108] In one embodiment, selecting a cluster head satellite based on cluster head qualification parameters includes: determining a first candidate cluster head satellite queue that meets the cluster head qualification requirements based on the cluster head qualification parameters; determining a head node of the first candidate cluster head satellite queue as a candidate cluster head satellite, and sending a cluster head request signaling; receiving indication information fed back by the candidate cluster head satellite based on the cluster head request signaling; if the indication information is an approval indication, sending a confirmation signaling to the candidate cluster head satellite to confirm that the candidate cluster head satellite becomes the cluster head satellite; if the indication information is a rejection indication, reselecting a cluster head satellite from the first candidate cluster head satellite queue.

[0109] In one embodiment, a first candidate cluster head satellite queue that meets the cluster head qualification requirements is determined based on cluster head qualification parameters, including: calculating a first qualification decision value of the cluster head qualification parameters of visible low-orbit satellites; sorting the visible low-orbit satellites whose first qualification decision values ​​are greater than the qualification threshold to obtain a first candidate cluster head satellite queue that meets the cluster head qualification requirements.

[0110] In one embodiment, collecting pending tasks of users within a visible range includes: sending a task collection signal to collect pending tasks of users within a visible range; and obtaining a delay constraint, a task data volume, and a required number of CPU cycles of the pending tasks.

[0111] In one embodiment, negotiation is performed with the cluster head satellite based on the amount of computing resources for the task to be processed, so that the cluster head satellite can form a low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relations, including: calculating the amount of computing resources for the task to be processed based on delay constraints, the amount of task data and the number of CPU cycles; sending the amount of computing resources to the cluster head satellite to receive a construction signaling fed back by the cluster head satellite based on the amount of computing resources and the inter-satellite neighbor relations, the construction signaling being used to indicate that the low-orbit satellite cluster has been established, and the construction signaling also includes node information of the low-orbit satellite cluster.

[0112] like Figure 3 As shown, according to an embodiment of the present disclosure, a collaborative system construction method based on collaboration between a high-altitude platform and a low-orbit satellite is applied to a cluster head satellite, including:

[0113] Step S302: confirming the cluster head satellite of the low-orbit satellite cluster to be constructed.

[0114] Step S304: negotiate with the high-altitude platform based on the computing resource amount of the tasks to be processed collected by the high-altitude platform, so as to form a low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0115] In one embodiment, confirming that it is a cluster head satellite of a low-orbit satellite cluster to be constructed includes: receiving a cluster head request signaling sent by a high-altitude platform; obtaining estimated task processing occupancy information carried by the cluster head request signaling; judging whether to agree to become a cluster head satellite based on the estimated task processing occupancy information; if agreeing to become a cluster head satellite, feeding back indication information of the consent indication to the high-altitude platform; and receiving a confirmation signaling sent by the high-altitude platform to confirm that it has become a cluster head satellite.

[0116] In one embodiment, based on the computing resource amount of the pending tasks collected by the high-altitude platform, negotiation is performed with the high-altitude platform to form a low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship, including: sending an information collection instruction to the low-orbit satellite with the inter-satellite neighbor relationship; receiving satellite qualification parameters fed back by the low-orbit satellite based on the information collection instruction, the satellite qualification parameters including the remaining service time and available computing resources of the low-orbit satellite relative to the cluster head satellite; calculating the second qualification decision value of each low-orbit satellite based on the satellite qualification parameters; sorting multiple low-orbit satellites from high to low according to the second qualification decision value to generate a candidate member node queue; and forming a low-orbit satellite cluster based on the candidate member node queue and the computing resource amount.

[0117] In one embodiment, a low-orbit satellite cluster is formed based on a candidate member node queue and computing resources, including: starting a node clustering process, taking the head node in the candidate member node queue as the target node, and sending a clustering request to the target node; if a clustering signaling is received that the target node accepts clustering, the target node is added to the low-orbit satellite cluster, and the target node is removed from the candidate member node queue, wherein the clustering signaling includes a satellite qualification parameter; if a rejection signaling is received that the target node rejects clustering, the target node is removed from the candidate member node queue, and a new head node in the new candidate member node queue is re-determined as the target node; based on the computing resources, it is determined whether the existing low-orbit satellite cluster meets the mission requirements; if the mission requirements are not met, new target nodes are continuously added to the low-orbit satellite cluster until a low-orbit satellite cluster that meets the mission requirements is formed, and a corresponding in-cluster node information table is generated.

[0118] In one embodiment, the method further includes: maintaining a low-orbit satellite cluster based on the intra-cluster node information table.

[0119] In one embodiment, maintaining a low-orbit satellite cluster based on an intra-cluster node information table includes: receiving a willingness indication instruction reported by an intra-cluster node within a preset time interval, the willingness indication instruction is used to indicate whether the node is willing to continue to be a node in the cluster; if the node is willing to continue to be a node in the cluster, obtaining the updated satellite qualification parameters carried by the willingness indication instruction, and updating the corresponding satellite qualification parameters in the intra-cluster node information table to update the low-orbit satellite cluster; if the node is unwilling to continue to be a node in the cluster, initiating a node exit process, and deleting the corresponding intra-cluster node in the intra-cluster node information table to update the low-orbit satellite cluster.

[0120] In one embodiment, a node exit process is initiated, including: determining a node that is unwilling to continue to be a node in the cluster as a node to be exited, and sending an exit signaling to the node to be exited; receiving the remaining task amount from the node to be exited based on the exit signaling feedback; customizing the task transfer decision to inform the node to be exited to transfer the remaining task amount to another node in the cluster for processing; receiving feedback signaling from the node to be exited, the feedback signaling is used to indicate that another node in the cluster has received the remaining task amount, so as to update the low-orbit satellite cluster.

[0121] In one embodiment, the method further includes: determining a sending node of a willingness indication instruction that has not been received within a preset time interval as a lost cluster node, and deleting the lost cluster node from the cluster node information table to update the low-orbit satellite cluster.

[0122] In one embodiment, it also includes: detecting whether the updated low-orbit satellite cluster meets the mission requirements based on the updated intra-cluster node information table; if it does not meet the mission requirements, selecting a low-orbit satellite to join the low-orbit satellite cluster based on the second qualification decision value.

[0123] Figure 4A flow chart of a task processing method based on collaboration between a high-altitude platform and a low-orbit satellite in an embodiment of the present disclosure is shown.

[0124] like Figure 4 As shown, according to an embodiment of the present disclosure, a task processing method based on collaboration between a high-altitude platform and a low-orbit satellite includes:

[0125] Step S402: selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range.

[0126] Among them, one low-orbit satellite is selected from the low-orbit satellites within the visible range as a cluster head satellite, and communication is established to further construct a low-orbit satellite cluster based on the cluster head satellite.

[0127] Step S404: collecting tasks to be processed of users within the visible range.

[0128] The user within the visible range may specifically be a ground user equipment (GUE).

[0129] Step S406: negotiate with the cluster head satellite based on the computing resource amount of the task to be processed, so that the cluster head satellite forms a low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0130] Among them, by negotiating with the cluster head satellite, the constructed low-orbit satellite cluster can be not limited by the visual range of the high-altitude platform.

[0131] The amount of computing resources for the tasks to be processed includes the number of tasks to be processed and the amount of resources required for each task. Based on the amount of computing resources, the size of the required low-orbit satellite cluster can be determined.

[0132] In addition, those skilled in the art will understand that Figure 1 As shown, the low-orbit satellite having an inter-satellite neighbor relationship with the cluster head satellite may be a low-orbit satellite outside the visible range of the high-altitude platform.

[0133] Step S408, receiving the intra-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, and allocating a task processing solution of the to-be-processed tasks to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table.

[0134] Among them, the task processing scheme for allocating tasks to be processed to the nodes in the cluster of low-orbit satellites may specifically include reasonably allocating the nodes in the cluster that can complete the tasks reliably and efficiently based on the satellite qualification parameters of the nodes in the cluster.

[0135] Step S410: sending the task processing solution to the cluster head satellite, so that the cluster head satellite distributes the task processing solution to the corresponding nodes in the cluster.

[0136] In this embodiment, a cluster head satellite of a low-orbit satellite cluster is selected from the low-orbit satellites within the visible range of the high-altitude platform, and then the scale of the low-orbit satellite cluster to be constructed is determined according to the computing resource amount of the user's task to be processed, so as to interact with the cluster head satellite and realize the formation of a low-orbit satellite cluster. The low-orbit satellites constituting the low-orbit satellite cluster are no longer limited by the visible range of the high-altitude platform, but are selected from the adjacent satellites of the cluster head satellite according to the task requirements. Therefore, it is beneficial to increase the number of choices and selection flexibility of nodes in the cluster, and then it is beneficial to increase the available communication and computing resources of the low-orbit satellite cluster, and enhance the task processing capability of the integrated air-ground communication network system.

[0137] In one embodiment, step S402, a specific implementation method of selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range, includes: sending an information collection instruction to the visible low-orbit satellites within the visible range; receiving cluster head qualification parameters fed back by the visible low-orbit satellites within the visible range, the cluster head qualification parameters including at least one of the remaining service time relative to the high-altitude platform, the channel state information between the high-altitude platform, the number of satellites with neighboring relationships, and available computing resources; selecting the cluster head satellite based on the cluster head qualification parameters.

[0138] In this embodiment, the high-altitude platform selects a satellite as a cluster head satellite from its visible low-orbit satellites based on the cluster head qualification parameters of the visible low-orbit satellites, including the remaining service time relative to the high-altitude platform, channel status information, the number of satellites within the communication range and available computing resources, and establishes communication with it to ensure the reliability and efficiency of communication with the cluster head satellite.

[0139] like Figure 5 As shown, in one embodiment, a specific implementation method of selecting a cluster head satellite based on cluster head qualification parameters includes:

[0140] Step S502: determining a first candidate cluster head satellite queue that meets the cluster head qualification requirement based on the cluster head qualification parameter.

[0141] The cluster head qualification requirement is that the first qualification decision value of the visible low-orbit satellite needs to be greater than the qualification threshold.

[0142] Step S504: determine the head node of the first candidate cluster head satellite queue as a candidate cluster head satellite, and send a cluster head request signaling.

[0143] The head node of the first candidate cluster head satellite queue is the node with the largest first qualification decision value in the first candidate cluster head satellite queue.

[0144] In addition, the cluster head request signaling may include attribute information such as estimated task volume and task time limit.

[0145] Step S506: receiving indication information fed back by the candidate cluster head satellite based on the cluster head request signaling.

[0146] The indication information is used to indicate whether the satellite is willing to become a cluster head satellite.

[0147] Step S508: If the indication information is an approval indication, a confirmation signaling is sent to the candidate cluster head satellite to confirm that the candidate cluster head satellite becomes the cluster head satellite.

[0148] Step S510: if the indication information is a rejection indication, reselect a cluster head satellite from the first candidate cluster head satellite queue.

[0149] If the candidate cluster head satellite agrees to the request, the high-altitude platform sends a confirmation signal to confirm its cluster head satellite identity. If the request is rejected, the high-altitude platform chooses to delete the satellite from the candidate cluster head satellite queue.

[0150] In this embodiment, by generating a first candidate cluster head satellite queue within the visible range, determining the candidate cluster head satellite based on the cluster head qualification parameters of each visible low-orbit satellite, and confirming the selection of the cluster head satellite when the candidate cluster head satellite agrees to become a cluster head satellite, it is beneficial to ensure efficient interaction between the high-altitude platform and the cluster head satellite.

[0151] In one embodiment, determining a first candidate cluster head satellite queue that meets the cluster head qualification requirement based on the cluster head qualification parameter includes:

[0152] Calculate the first qualification decision value of the cluster head qualification parameter of the visible low-orbit satellite.

[0153] The first qualification decision value is specifically a multiplicative exponential weighting (MEW) of the qualification parameter of the visible low-orbit satellite.

[0154] The visible low-orbit satellites whose first qualification decision values ​​are greater than the qualification threshold are sorted to obtain a first candidate cluster head satellite queue that meets the cluster head qualification requirements.

[0155] In this embodiment, in order to reasonably select a satellite node as the cluster head satellite of the low-orbit satellite cluster, the high-altitude platform traverses all satellites within the visible range, calculates the multiplier exponential weighted (MEW) value of the qualification parameter of each satellite, that is, the first qualification decision value, as the collected qualification parameters, and for all satellites that meet the qualification multiplier exponential weighted value greater than the qualification threshold, the high-altitude platform sorts the satellites in descending order according to the multiplier exponential weighted value of the qualification parameter to form a candidate cluster head satellite queue of the satellite cluster.

[0156] In one embodiment, collecting pending tasks of users within a visible range includes: sending a task collection signal to collect pending tasks of users within a visible range; and obtaining a delay constraint, a task data volume, and a required number of CPU cycles of the pending tasks.

[0157] The high-altitude platform collects the tasks to be processed by users within its visual range, and calculates the amount of computing resources required to process the tasks based on the collected amount of tasks to be calculated by users, and uses this to negotiate with the cluster head satellite to determine the scale of the satellite cluster to be built, including:

[0158] The high-altitude platform sends task collection signaling to collect pending tasks to be offloaded within its visual range, including the task's latency constraints, data volume, and the number of CPU cycles required for processing.

[0159] The high-altitude platform calculates the amount of computing resources required to process the task based on the task information.

[0160] In this embodiment, the delay constraint, task data volume and required number of CPU cycles of the task to be processed are obtained, and the above data are applied to the construction of the low-orbit satellite cluster to ensure the rationality and reliability of the construction of the low-orbit satellite cluster.

[0161] In one embodiment, negotiation is performed with the cluster head satellite based on the amount of computing resources for the task to be processed, so that the cluster head satellite can form a low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relations, including: calculating the amount of computing resources for the task to be processed based on delay constraints, the amount of task data and the number of CPU cycles; sending the amount of computing resources to the cluster head satellite to receive a construction signaling fed back by the cluster head satellite based on the amount of computing resources and the inter-satellite neighbor relations, the construction signaling being used to indicate that the low-orbit satellite cluster has been established, and the construction signaling also includes node information of the low-orbit satellite cluster.

[0162] In one embodiment, a task processing scheme for receiving an intra-cluster node information table of a low-orbit satellite cluster fed back by a cluster head satellite and allocating tasks to be processed to intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table includes:

[0163] The first transmission delay for unloading the task to be processed to the cluster head satellite is calculated based on the channel bandwidth and channel gain between the cluster head satellite and the cluster head satellite, and the transmission power for unloading the task to be processed to the cluster head satellite.

[0164] Among them, according to the channel bandwidth from the high-altitude platform to the cluster head satellite, the transmission power of the unloaded task to the cluster head satellite, and the channel gain from the high-altitude platform to the cluster head satellite, the transmission delay from the high-altitude platform to the cluster head satellite is calculated as the first transmission delay.

[0165] A task processing plan is formulated for the task to be processed, so as to select a cluster node that executes the task processing plan in the low-orbit satellite cluster based on the first transmission delay.

[0166] In one embodiment, sending a task processing plan to a cluster head satellite includes: constructing a task queue node based on a delay constraint, a task data volume, and a required number of CPU cycles; constructing a task queue based on a plurality of task queue nodes; and sending the task queue along with the task processing plan to the cluster head satellite.

[0167] In one embodiment, the method further includes: receiving the execution result of the task processing solution by the cluster head satellite based on the collected nodes in the cluster.

[0168] like Figure 6 As shown, according to another embodiment of the present disclosure, a task processing method based on collaboration between a high-altitude platform and a low-orbit satellite is applied to a cluster head satellite, including:

[0169] Step S602: confirming the cluster head satellite of the low-orbit satellite cluster to be constructed.

[0170] Step S604: negotiate with the high-altitude platform based on the computing resource amount of the tasks to be processed collected by the high-altitude platform, so as to form a low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0171] Step S606, feeding back the intra-cluster node information table of the low-orbit satellite cluster to the high-altitude platform, so that the high-altitude platform can allocate a task processing solution for the intra-cluster nodes in the low-orbit satellite cluster to be processed based on the intra-cluster node information table.

[0172] Step S608, receiving the task processing plan sent by the high-altitude platform.

[0173] Step S610: Distribute the task processing solution to the corresponding nodes in the cluster.

[0174] In this embodiment, the low-orbit satellite serving as the cluster head satellite interacts with the high-altitude platform to realize the formation of a low-orbit satellite cluster, wherein the low-orbit satellites constituting the low-orbit satellite cluster are no longer limited by the visual range of the high-altitude platform, but are selected from the adjacent satellites of the cluster head satellite according to mission requirements. This is beneficial to increase the number of choices and selection flexibility of nodes within the cluster, and further helps to increase the available communication and computing resources of the low-orbit satellite cluster, and enhance the task processing capability of the integrated air-ground communication network system.

[0175] In one embodiment, in step S602, a specific implementation method of confirming a cluster head satellite as a low-orbit satellite cluster to be constructed includes:

[0176] Receive cluster head request signaling sent by the high-altitude platform.

[0177] Get the estimated task processing occupancy information carried by the cluster head request signaling.

[0178] The estimated task processing occupancy information includes the estimated task volume, task time limit, and estimated task processing occupancy time.

[0179] Based on the estimated task processing occupancy information, it is determined whether to agree to become a cluster head satellite.

[0180] If it agrees to become a cluster head satellite, it will feed back the indication information of its agreement to the high-altitude platform.

[0181] Receive the confirmation signal sent by the high-altitude platform to confirm that it has become a cluster head satellite.

[0182] In this embodiment, the candidate cluster head satellite receives the cluster head request signaling and estimates the task processing occupancy information such as the estimated task volume, task time limit and estimated task processing occupancy time carried in the cluster head request signaling, so that the candidate cluster head satellite determines whether it can become a cluster head satellite based on its own capabilities, and sends corresponding signaling to the high-altitude platform to complete the selection of the cluster head satellite or enable the high-altitude platform to reselect the cluster head satellite, thereby ensuring the rationality and reliability of the cluster head satellite selection.

[0183] like Figure 7 As shown, in one embodiment, step S604, based on the amount of computing resources of the tasks to be processed collected by the high-altitude platform, negotiate with the high-altitude platform to form a low-orbit satellite cluster based on the amount of computing resources and the inter-satellite neighbor relationship, a specific implementation method includes:

[0184] Step S702: Send an information collection instruction to a low-orbit satellite having an inter-satellite neighbor relationship.

[0185] Step S704: receiving satellite qualification parameters fed back by the low-orbit satellite based on the information collection instruction, where the satellite qualification parameters include the remaining service time and available computing resources of the low-orbit satellite relative to the cluster head satellite.

[0186] Step S706: Calculate a second qualification decision value for each low-orbit satellite based on the satellite qualification parameters.

[0187] Step S708: sort the multiple low-orbit satellites from high to low according to the second qualification decision value to generate a candidate member node queue.

[0188] Step S710: forming a low-orbit satellite cluster based on the candidate member node queue and computing resources.

[0189] like Figure 8 As shown, in one embodiment, forming a low-orbit satellite cluster based on a candidate member node queue and computing resources includes:

[0190] Step S802, start the node clustering process, take the head node in the candidate member node queue as the target node, and send a clustering request to the target node.

[0191] Step S804: if a cluster entry signaling is received indicating that the target node accepts cluster entry, the target node is added to the low-orbit satellite cluster and the target node is removed from the candidate member node queue, wherein the cluster entry signaling includes satellite qualification parameters.

[0192] Step S806: If a rejection signaling is received from the target node refusing to join the cluster, the target node is removed from the candidate member node queue, and a new head node in the new candidate member node queue is determined as the target node.

[0193] Step S808, judging whether the existing low-orbit satellite cluster meets the mission requirements based on the amount of computing resources.

[0194] Step S810: If the mission requirements are not met, then continue to add new target nodes to the low-orbit satellite cluster until a low-orbit satellite cluster that meets the mission requirements is formed, and a corresponding intra-cluster node information table is generated.

[0195] In this embodiment, the cluster head satellite collects the qualification parameters of each low-orbit satellite that has an inter-satellite neighbor relationship with it by sending information collection signaling, including the remaining service time and available computing resources of each satellite relative to the cluster head satellite. The cluster head satellite calculates the qualification parameter multiplier exponential weighted value for each satellite that has a neighbor relationship, and sorts each satellite in descending order according to the qualification parameter multiplier exponential weighted value to form a candidate member node queue of the satellite cluster.

[0196] Furthermore, the cluster head satellite starts the node clustering process, takes the head node of the candidate member node queue as the target node, and tries to add it to the low-orbit satellite cluster, which includes:

[0197] The cluster head satellite sends a cluster joining request to the target node. The target node chooses whether to accept the invitation based on its own situation and sends a feedback signal to the cluster head satellite to indicate whether it accepts the cluster joining invitation.

[0198] If the target node accepts the cluster entry request, the target node satellite successfully joins the cluster as a cluster node, and the signaling returned to the cluster head carries all its qualification parameters, including the remaining service time and available computing resources relative to the cluster head satellite. After receiving the signaling of agreeing to the invitation, the cluster head satellite adds the target satellite to the satellite cluster and removes it from the candidate member node queue.

[0199] If the target node rejects the cluster entry request, the cluster head satellite deletes the queue head of the candidate member node, re-selects the new queue node as the target node, and returns to the cluster head satellite to re-send the cluster entry request to the target node.

[0200] Furthermore, the cluster head satellite determines whether the current low-orbit satellite cluster can meet the mission requirements by comparing the time to complete the mission using the current satellite cluster with the mission delay constraint. If the delay limit is exceeded, it proves that the current low-orbit satellite cluster cannot meet the mission requirements, and satellites continue to be added to the cluster.

[0201] Furthermore, the cluster head satellite returns a signal including an intra-cluster node information table of the low-orbit satellite cluster to the high-altitude platform.

[0202] In one embodiment, the method further includes: maintaining a low-orbit satellite cluster based on the intra-cluster node information table.

[0203] In one embodiment, maintaining a low-orbit satellite cluster based on an intra-cluster node information table includes:

[0204] A willingness indication instruction reported by a node in the cluster within a preset time interval is received, where the willingness indication instruction is used to indicate whether the node is willing to continue to serve as a node in the cluster.

[0205] If it is willing to continue to be a node in the cluster, it obtains the updated satellite qualification parameters carried by the willingness indication instruction, and updates the corresponding satellite qualification parameters in the node information table in the cluster to update the low-orbit satellite cluster.

[0206] If it is unwilling to continue to be a node in the cluster, it initiates the node exit process and deletes the corresponding cluster node in the cluster node information table to update the low-orbit satellite cluster.

[0207] like Fig. 9 As shown, in one embodiment, initiating a node exit process includes:

[0208] Step S902: Determine a node that is unwilling to continue to serve as a node in the cluster as a node to be withdrawn, and send a withdrawal signaling to the node to be withdrawn.

[0209] Step S904: receiving the remaining task amount fed back by the node to be exited based on the exit signaling.

[0210] Step S906: Customize the task transfer decision to inform the node to be exited to transfer the remaining task to another node in the cluster for processing.

[0211] Step S908: receiving feedback signaling from the node to be exited, where the feedback signaling is used to indicate that another node in the cluster has received the remaining task amount, so as to update the low-orbit satellite cluster.

[0212] In one embodiment, it further includes:

[0213] Step S910: determine the sending node of the intention indication instruction that has not been received within the preset time interval as a lost cluster node, and delete the lost cluster node in the cluster node information table to update the low-orbit satellite cluster.

[0214] In one embodiment, it further includes:

[0215] Step S912: Detect whether the updated low-orbit satellite cluster meets the mission requirements based on the updated intra-cluster node information table.

[0216] Step S914: If the mission requirement is not met, a low-orbit satellite is selected to join the low-orbit satellite cluster based on the second qualification decision value.

[0217] like Fig.10 As shown, in one embodiment, step S410, a specific implementation method of distributing the task processing solution to the corresponding nodes in the cluster includes:

[0218] Step S1002: For each node in the cluster, a second transmission delay for sending the task to be processed from the cluster head satellite to the node in the cluster is calculated.

[0219] The second transmission delay is the transmission delay of forwarding the task from the cluster head satellite to the nodes in the cluster.

[0220] Step S1004, calculating the minimum computing frequency required for the nodes in the cluster to process the pending tasks based on the second transmission delay and the first transmission delay, wherein the first transmission delay is the transmission delay for unloading the pending tasks from the high-altitude platform to the cluster head satellite.

[0221] Among them, for any pending task task i , which can be expressed as task i ={t i ,d i ,c i}, where t i is the delay constraint, d i is the amount of data, c i To process the task i The number of CPU cycles required for cluster node m to process task task on cluster node m i The minimum required calculation frequency is Figure 1 As shown:

[0222]

[0223] in, Indicates sending a task task i The first transmission delay to the cluster head satellite, Indicates the cluster head satellite sends a task task i The second transmission delay to node m in the cluster.

[0224] Step S1006 , traversing the nodes in the cluster based on the available calculation frequency and the minimum calculation frequency, so as to determine the corresponding node in the cluster based on the traversal result.

[0225] The nodes in the cluster are traversed to obtain the nodes in the cluster whose computing frequency is greater than the minimum computing frequency required for processing the task.

[0226] Step S1008: Distribute the task processing solution and the corresponding delay constraint, task data volume and required number of CPU cycles to the corresponding nodes in the cluster.

[0227] The tasks are distributed to the corresponding nodes in the cluster, and then processed by the nodes in the cluster.

[0228] In one embodiment, the method further includes: collecting the execution results of the task processing solution by the nodes in the cluster and sending them to the high-altitude platform.

[0229] like Fig.11 As shown, according to an embodiment of the present disclosure, a cluster head satellite switching method based on collaboration between a high-altitude platform and a low-orbit satellite is applied to a high-altitude platform, and includes:

[0230] Step S1102: selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range as an original cluster head satellite, so that the low-orbit satellite cluster is formed by the original cluster head satellite based on inter-satellite neighbor relations.

[0231] Step S1104, calculating the first qualification decision value of the original cluster head satellite.

[0232] Step S1106: determining whether to perform a cluster head satellite switching operation based on the relationship between the first qualification decision value and the qualification threshold.

[0233] In one embodiment, determining whether to perform a cluster head satellite switching operation based on a relationship between a first qualification decision value and a qualification threshold includes:

[0234] If the first qualification decision value is greater than or equal to the qualification threshold, it is determined that the original cluster head satellite continues to maintain the low-orbit satellite cluster; if the first qualification decision value is less than the qualification threshold, the cluster head satellite switching process is initiated to perform the cluster head satellite switching operation.

[0235] In this embodiment, the high-altitude platform calculates the multiplier exponential weighted value of the qualification parameter of the cluster head satellite as the first qualification decision value, and compares it with the qualification threshold to determine whether the conditions for serving as a cluster head satellite are still met based on the comparison result, and switches the cluster head satellite when the previous cluster head satellite no longer meets the conditions. Introducing the high-altitude platform as the control core to detect the reliability of the cluster head satellite is beneficial to reducing the interaction overhead between the high-altitude platform and the low-orbit satellite and improving the system's task processing capability.

[0236] like Fig.12 As shown, in one embodiment, a specific implementation method of initiating a cluster head satellite switching process includes:

[0237] Step S1202, sending an information collection instruction to visible low-orbit satellites other than the original cluster head satellite within the visible range;

[0238] Step S1204: receiving cluster head qualification parameters fed back by visible low-orbit satellites within the visible range.

[0239] The cluster head qualification parameters include at least one of the remaining service time relative to the high-altitude platform, the channel state information between the cluster head and the high-altitude platform, the number of satellites with neighboring relationships, and available computing resources.

[0240] Step S1206: Determine a second candidate cluster head satellite queue that meets the switching qualification requirement based on the cluster head qualification parameters.

[0241] In one embodiment, the method further includes: performing a cluster head satellite switching operation based on the second candidate cluster head satellite queue, specifically including:

[0242] Step S1208, a cluster head switching signaling is sent to the original cluster head satellite, the cluster head switching signaling includes a second candidate cluster head satellite queue, so that the original cluster head satellite retrieves the second candidate cluster head satellite queue and the same satellite in the low-orbit satellite cluster, and constructs a candidate satellite queue by the same satellite.

[0243] Step S1210: receiving a candidate satellite queue sent by the original cluster head satellite.

[0244] Step S1212, calculating the first qualification decision value of the same satellite in the candidate satellite queue.

[0245] Step S1214: adjusting the order of the candidate satellite queues from high to low based on the first qualification decision value to obtain an adjusted satellite queue.

[0246] Step S1216: determine the head satellite of the adjusted satellite queue as the target cluster head satellite.

[0247] Step S1218: Send a cluster head request signaling to the target cluster head satellite.

[0248] Step S1220: receiving indication information fed back by the target cluster head satellite based on the cluster head request signaling.

[0249] Step S1222: If the indication information is an approval indication, a confirmation signaling is sent to the target cluster head satellite to confirm that the target cluster head satellite becomes the new cluster head satellite after the switch.

[0250] Step S1224: if the indication information is a rejection indication, reselect the target cluster head satellite from the adjustment satellite queue.

[0251] In one embodiment, performing a cluster head satellite switching operation based on a second candidate cluster head satellite queue further includes:

[0252] Step S1226: sending the identity information of the new cluster head satellite to the original cluster head satellite, so that the original cluster head satellite initiates a migration operation of the task processing solution to the new cluster head satellite based on the identity information.

[0253] Step S1228: receiving a switching success confirmation signaling fed back by the new cluster head satellite based on the migration operation, where the switching success confirmation signaling is used to indicate that the switching operation of the cluster head satellite is completed.

[0254] Among them, the new cluster head satellite determines whether the existing low-orbit satellite cluster meets the mission requirements based on the amount of computing resources, so that when the mission requirements are not met, a new target node with the optimal second qualification decision value is added to the low-orbit satellite cluster until a low-orbit satellite cluster that meets the mission requirements is formed.

[0255] like Fig.13 As shown, according to another embodiment of the present disclosure, a cluster head satellite switching method based on the collaboration of a high altitude platform and a low-orbit satellite is applied to a cluster head satellite, comprising:

[0256] Step S1302: forming a low-orbit satellite cluster based on inter-satellite neighbor relationships.

[0257] Step S1304: receiving a switching evaluation indication sent by the high-altitude platform, where the switching evaluation indication is generated based on the relationship between the first qualification decision value and the qualification threshold of the cluster head satellite.

[0258] In one embodiment, in step S1304, a specific implementation of receiving the switching evaluation instruction sent by the high-altitude platform includes:

[0259] If the switching evaluation indication is used to maintain the cluster head satellite, the low-orbit satellite cluster continues to be maintained.

[0260] If the switching evaluation indication is used to switch the cluster head satellite, the switching evaluation indication includes cluster head switching signaling, and the cluster head switching signaling includes a second candidate cluster head satellite queue.

[0261] The same satellites in the second candidate cluster head satellite array and the low-orbit satellite cluster are retrieved, and a candidate satellite array is constructed using the same satellites.

[0262] Send candidate satellite queues to high-altitude platforms.

[0263] In this embodiment, the high-altitude platform calculates the multiplier exponential weighted value of the qualification parameter of the cluster head satellite as the first qualification decision value, and compares it with the qualification threshold to determine whether the conditions for serving as a cluster head satellite are still met based on the comparison result, and switches the cluster head satellite when the previous cluster head satellite no longer meets the conditions. Introducing the high-altitude platform as the control core to detect the reliability of the cluster head satellite is beneficial to reducing the interaction overhead between the high-altitude platform and the low-orbit satellite and improving the system's task processing capability.

[0264] In one embodiment, the method further includes: receiving identity information of a new cluster head satellite sent by a high-altitude platform; and initiating a migration operation of a task processing solution to the new cluster head satellite based on the identity information.

[0265] like Fig.14 As shown, the controller 140 is deployed on a high-altitude platform, including a control module 1402 and a communication module 1404, wherein the control module 1402 includes a cluster head satellite decision and communication establishment module 1402A, a cluster dynamic networking module 1402B and a task decision making module 1402C, the cluster head satellite decision and communication establishment module 1402A is responsible for selecting the cluster head satellite and establishing communication with it, the cluster dynamic networking module 1402B is responsible for interactive negotiation with the cluster head satellite to provide an estimated amount of computing resources, and to form a satellite cluster for task collaboration according to the inter-satellite neighbor relationship of the cluster head satellite, and at the same time, after the cluster is successfully formed, the satellite cluster is maintained through a cluster node information table, and the task decision making module 1402C is responsible for formulating a task processing plan according to the satellite resource situation in the cluster. The control module is used to parse the satellite data obtained by the communication module and return the corresponding control strategy to the communication module, and the communication module 1404 is used to collect user task information and satellite information, establish communication with the cluster head satellite, and send the task processing plan to the cluster head satellite.

[0266] like Fig.15 As shown, according to an embodiment of the present disclosure, a dynamic networking and task processing method for collaboration between a high-altitude platform and a low-orbit satellite cluster specifically includes:

[0267] Step S1502: The high-altitude platform selects a cluster head satellite from the low-orbit satellites within its visible range according to the cluster head qualification parameters of the satellite.

[0268] like Fig.16 As shown, the high-altitude platform establishes communication with the cluster head satellite, specifically including:

[0269] Step S1602: The high-altitude platform sends information collection instructions to low-orbit satellites within its visible range.

[0270] The low-orbit satellite within the visible range is S LOS ={s 1 ,s 2 ,…,s M}, collect the qualification parameters of satellites within the visible range, including S LOS The remaining service time of each satellite relative to the high altitude platform Channel State Information (CSI) between the high altitude platform m , the number of satellites within the communication range (neighboring relationship) n m and the available calculation frequency f m .

[0271] Step S1604: The high-altitude platform selects a cluster head satellite from the low-orbit satellites within the visible range according to the collected qualification parameters.

[0272] In S LOS Select a satellite node as the cluster head satellite of the low-orbit satellite cluster, and LOS For any satellite node s, calculate its qualification parameter multiplier exponential weighted (MEW) value, as shown in formula (2).

[0273]

[0274] Traverse S LOS For all satellites in s ≥score threshold For all satellites, the high-altitude platform sorts them in descending order according to the weighted values ​​of the qualification parameters to form a candidate cluster head satellite queue of the satellite cluster.

[0275] Step S1606: The high-altitude platform selects the head node satellite m from the candidate cluster head satellite queue as the candidate cluster head satellite, and sends a cluster head request signaling to the candidate cluster head satellite m, hoping that it can become the cluster head satellite and establish communication with it.

[0276] The cluster head request signaling contains attributes such as estimated task volume and task time limit.

[0277] Step S1608, the candidate cluster head satellite m estimates the time taken to process the task based on the information carried in the cluster head request signaling, including the task volume, task time limit, etc., and determines whether it can agree to become a cluster head satellite, and returns a signaling to the high-altitude platform to indicate whether satellite m is willing to become a cluster head satellite. If the request is agreed, the process proceeds to step S1610. If the request is rejected, the high-altitude platform deletes the satellite from the candidate cluster head satellite queue and returns to step S1606.

[0278] Step S1610: The high-altitude platform sends a signal to confirm its cluster head satellite identity.

[0279] Step S1504: the high-altitude platform collects pending tasks from users within its visible range, calculates the amount of computing resources required to process the tasks based on the collected pending tasks, and uses them to negotiate with the cluster head satellite to determine the size of the satellite cluster to be constructed.

[0280] The specific steps include:

[0281] 1504.1 The high-altitude platform sends a task collection signal to collect user tasks to be offloaded within its visual range. i ,i∈I, contains the delay constraint t of each task i , data volume i and the number of CPU cycles required to process ci , that is, task i ={t i ,d i ,c i}.

[0282] 1504.2 The high-altitude platform calculates the amount of computing resources required to process the task based on the task information, that is, the computing resource frequency R, as shown in formula (3).

[0283]

[0284] Step S1506: The cluster head satellite and the high-altitude platform interact and negotiate based on the amount of computing resources to obtain an estimated task amount, and form a low-orbit satellite cluster for task collaboration based on the neighbor relationship between the satellites.

[0285] like Fig.17 As shown in the figure, a satellite cluster is formed for mission collaboration, including:

[0286] Step S1702: The cluster head satellite sends an information collection signaling to collect the qualification parameters of each low-orbit satellite in the set of satellite nodes having a neighbor relationship with it.

[0287] Satellite node set S neighbor ={s 1 ,s 2 ,…,s N}, the satellite qualification parameters include the remaining service time of each satellite relative to the cluster head satellite and the available calculation frequency f n .

[0288] Step S1704: the cluster head satellite calculates the second qualification decision value of the qualification parameter for each satellite in the satellite node set, and sorts the satellites in descending order of the qualification parameter weight value to form a candidate member node queue of the satellite cluster.

[0289] For satellite node n, calculate the weighted value of its qualification parameter As the second qualification decision value, ε+η=1. The cluster head satellites select S according to the weighted values ​​of the qualification parameters from high to low. neighbor The satellites in the cluster are sorted to form a candidate member node queue of the satellite cluster.

[0290] Step S1706: the cluster head satellite starts the node joining process and attempts to add the head node of the candidate member node queue to the cluster.

[0291] like Fig.18 As shown in the figure, the node clustering process specifically includes:

[0292] Step S1802: The cluster head satellite sends an invitation to the target node n to join the cluster.

[0293] Step S1804, satellite node n chooses whether to accept the invitation according to its own situation, and returns a signal to the cluster head satellite to indicate whether satellite n accepts the invitation to join the cluster.

[0294] If accepted, satellite n successfully joins the cluster, and the signaling returned to the cluster head carries all its qualification parameters, including the remaining service time of satellite n relative to the cluster head satellite. and the available calculation frequency f n If rejected, the cluster head satellite selects the next satellite node in the candidate queue and invites the node to join the cluster again, and returns to step S1802.

[0295] Step S1806: After receiving the invitation approval signal, the cluster head satellite adds the target satellite n to the satellite cluster set.

[0296] That is S cluster =S cluster +s n , and store the qualification information of satellite n in cluster information set I cluster In The cluster head satellite removes satellite n from the candidate member node queue.

[0297] like Fig.19 As shown in the figure, the high-altitude platform is responsible for collecting terminal computing tasks within its scope of responsibility, and returns the results to the terminal after cooperating with the satellite cluster to process the tasks. The high-altitude platform interacts and collaborates with the satellite cluster through the cluster head satellite. There are M low-orbit satellites within the visible range of the high-altitude platform, and all low-orbit satellites are equipped with MEC servers, which have computing power and can process and calculate tasks.

[0298] Step S1708, the cluster head satellite determines whether the current satellite cluster can meet the task requirements by comparing the time to complete the task using the current satellite cluster with the task delay constraint. If "no", return to step S1706, if "yes", enter step S1710.

[0299] Specifically, the current satellite cluster S cluster The time to complete the task and the task delay constraint are used to determine whether the current satellite cluster can meet the task requirements. If the delay exceeds the time limit, it proves that the current satellite cluster cannot meet the task requirements, and the process returns to step S1706 to continue to send the task to S cluster If not, the process goes to step S1306 to maintain the current satellite cluster.

[0300] Step S1710: The cluster head satellite returns a signal to the high-altitude platform, indicating that the satellite cluster has been successfully constructed. The signal contains information about the nodes in the cluster, as shown in formula (4).

[0301]

[0302] Step S1508: The cluster head satellite maintains the intra-cluster nodes of the low-orbit satellite cluster through the intra-cluster node information table.

[0303] The node information table contains the qualification parameters of each satellite, that is, the remaining service time of each satellite relative to the cluster head satellite and the available calculation frequency f n , and every time interval Δt peroid The cluster head satellite maintains the satellite cluster in the following specific steps:

[0304] (1) Cluster S cluster All satellite nodes within the peroid Send a signal to the cluster head satellite to indicate whether it is willing to continue to be a cluster member. If yes, the signal carries its updated qualification parameters; otherwise, send a request to exit the satellite cluster.

[0305] (2) If in a Δt peroid When the cluster head satellite receives a message that a satellite node m in the cluster is willing to continue to be a cluster member, it updates the qualification parameters corresponding to the satellite m in the node information table.

[0306] (3) If in a Δt peroid If the cluster head satellite receives a message from a satellite node a in a cluster, indicating that it wants to exit the satellite cluster, the cluster head satellite initiates the following Fig.18 The node exit process shown in the figure makes the node exit the satellite cluster S cluster , and delete the satellite in the information table.

[0307] Fig. 20 As shown in FIG. 1 , the exit process of satellite a specifically includes:

[0308] Step S2002: The cluster head satellite sends a signaling to the target node a to exit the satellite cluster.

[0309] Step S2004: If the target node a has unfinished tasks, the cluster head satellite is notified of the remaining tasks.

[0310] Step S2006: The cluster head satellite decides to transfer the remaining tasks to another satellite b in the cluster for processing, and sends a signal to inform the target node a to forward the unfinished tasks to satellite b.

[0311] Step S2008: After receiving the signal, the target node a terminates its identity as a node in the cluster and transfers the unfinished tasks to the satellite b according to the signaling requirements.

[0312] Step S2010: After receiving the task, satellite b returns a signal to node a.

[0313] Step S2012, after receiving the signaling returned by satellite b, target node a sends a signaling to the cluster head satellite, indicating successful exit from the satellite cluster.

[0314] (4) If in a Δt peroid If the cluster head satellite does not receive the message of a satellite node s in a cluster, it proves that the satellite s has left the communication range of the cluster head satellite, that is, it has left the satellite cluster S. cluster The cluster head satellite deletes the satellite in the information table.

[0315] (5) In a Δt peroid After the task is completed, the cluster head satellite determines whether the current satellite cluster can meet the task requirements based on the updated node information table. If not, the cluster head satellite will be neighbor -S cluster Within the range, satellites are selected according to the weighted values ​​of qualification parameters to join S cluster .

[0316] Step S1510: The high-altitude platform constructs the tasks to be forwarded to the satellite cluster for processing into a task queue, and formulates a task processing plan for the tasks to be forwarded to the satellite cluster for processing according to the cluster node information table fed back by the cluster head satellite, and sends the task queue and the processing plan to the cluster head satellite.

[0317] Task Queue Q task ={task 1 ,task 2 ,...,task I}, containing the delay constraint t for each task i , data volume i and the number of CPU cycles required to process c i , that is, task i ={t i ,d i ,c i}, according to the cluster head satellite feedback cluster node information table I cluster A task processing plan is formulated for the tasks to be forwarded to the satellite cluster for processing, and the task queue and the processing plan are sent to the cluster head satellite.

[0318] Process such as Fig.21 As shown, the specific steps are as follows:

[0319] Step S2102: The high-altitude platform receives the node information within the cluster sent by the cluster head satellite.

[0320] Step S2104: the high-altitude platform calculates a second transmission delay from the cluster head satellite to the nodes within the cluster for offloading the task.

[0321] The data transmission rate from the high-altitude platform to the cluster head satellite is

[0322]

[0323] Among them, B i represents the channel bandwidth from the high-altitude platform to the cluster head satellite, p i Represents the uninstallation task task i Transmit power to cluster head satellite, g i represents the channel gain from the control point to the cluster head satellite, N 0 Represents the power spectral density of additive white Gaussian noise.

[0324] Therefore, the high-altitude platform sends the task task i The second transmission delay to the cluster head satellite is shown in equation (6).

[0325]

[0326] For each task sent to the cluster head satellite i , the high-altitude platform formulates a task processing plan for it, that is, selects a satellite in the cluster to process the task. The specific steps are as follows:

[0327] For a satellite m in the cluster, the task task i The data transmission rate from the cluster head satellite to satellite m is in, represents the channel bandwidth from cluster head satellite to satellite m, p i Represents the uninstallation task task i Transmit power to satellite m, g i represents the channel gain from cluster head satellite to satellite m, N 0 represents the power spectral density of additive Gaussian white noise. Therefore, the cluster head satellite sends task i Transmission delay to satellite m

[0328] Step S2106: The aerial platform arranges the tasks from small to large according to the delay constraints to generate a task queue.

[0329] Step S2108, traverse each node in the cluster in descending order of the available computing frequencies, and search for a node in the cluster whose available computing frequency is greater than the minimum computing frequency required for processing the task.

[0330] Satellites that can perform mission processing should meet the following conditions:

[0331] For computing tasks i The minimum computational frequency required to process it on satellite m is shown in equation (1).

[0332]

[0333] If there is a satellite that meets the above conditions, the task task i It is forwarded to satellite m by the cluster head satellite for processing, and the available computing frequency of satellite m is updated in the resource matrix, that is, At the same time, the task i Otherwise, continue to traverse the next satellite until all satellites in the cluster are traversed.

[0334] In step S2110, the high-altitude platform unloads the task to the corresponding node in the cluster through the cluster head satellite and updates its available resources until the task processing is completed.

[0335] Step S1512: The cluster head satellite executes the task processing plan formulated by the high-altitude platform. The specific steps include:

[0336] (1) The cluster head satellite distributes tasks to satellites within the cluster according to the task processing plan.

[0337] (2) After completing the mission, each satellite transmits the results back to the cluster head satellite.

[0338] (3) The cluster head satellite returns the task processing results to the control point.

[0339] Step S1514: The high-altitude platform calculates the first qualification decision value for the cluster head satellite to detect whether it is necessary to switch the cluster head node. If "no", return to step S1508 to continue maintaining the current satellite cluster. If "yes", enter step S1516.

[0340] The first qualification decision value is specifically the qualification parameter multiplier index weighted value score m ′, determine whether the condition score is still met m ′≥score threshold If the current cluster head satellite still meets the above conditions, the process returns to step S1508 to continue maintaining the current satellite cluster. Otherwise, the current cluster head satellite no longer meets the above conditions, and the process proceeds to step S1516.

[0341] Step S1516: the high-altitude platform initiates the process of switching the cluster head satellite.

[0342] The process of switching cluster head satellite is as follows: Fig. 22 As shown, to achieve the switching between the new and old cluster heads, the specific steps are as follows:

[0343] Step S2202: The high-altitude platform selects a candidate cluster head satellite array.

[0344] Candidate cluster head satellite queue S candidate ={s 1 ,…,s h}, any satellite i in the fleet satisfies score i ≥score threshold .

[0345] Step S2204: the high-altitude platform sends a cluster head switching signaling to the original cluster head satellite node, where the signaling includes a candidate cluster head satellite queue selected by the high-altitude platform.

[0346] Step S2206: After receiving the signaling sent by the high-altitude platform, the original cluster head satellite node searches for the same satellite as that in the candidate cluster head satellite queue in its cluster to form a candidate satellite queue.

[0347] Among them, the candidate satellite queue S head =S candidate ∩S cluster .

[0348] Step S2208: the original cluster head satellite node sends the candidate satellite queue to the high-altitude control platform.

[0349] In step S2210, the high-altitude platform arranges the satellites in the candidate queue from large to small according to the qualification weight value, selects the head satellite as the new candidate cluster head satellite, and sends a signal to the candidate cluster head satellite to ask whether it is willing to become a cluster head satellite.

[0350] In step S2212, the candidate cluster head satellite replies a signal to the control point, indicating whether the candidate cluster head satellite is willing to become a cluster head satellite. If yes, proceed to step S2214; otherwise, return to step S2210 and reselect a candidate cluster head satellite in the queue.

[0351] Step S2214: The high-altitude platform sends a signaling to confirm the cluster head identity to the original cluster head satellite and the candidate cluster head satellite, thereby notifying the original cluster head satellite that the candidate cluster head satellite is a new cluster head satellite.

[0352] Step S2216: the original cluster head satellite initiates the migration of the task processing solution to the new cluster head satellite.

[0353] Step S2218: After receiving the task processing plan from the original cluster head satellite, the new cluster head satellite sends a signal to the high-altitude platform, indicating that the cluster head switching has been successfully completed.

[0354] Step S2220: After receiving the task allocation plan, the new cluster head satellite determines whether the current task requirement is met to re-maintain the low-orbit satellite cluster.

[0355] If satisfied, then return to step S1508 to continue maintaining the current cluster. If not satisfied, then as in step S1506, add a satellite with the best qualification parameter weight value each time until the mission requirements are met, and maintain a new satellite cluster.

[0356] It should be noted that the above figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0357] Refer to the following Fig.23 To describe a collaborative system construction device 2300 based on a high-altitude platform and a low-orbit satellite according to an embodiment of the present invention. Fig.23 The collaborative system construction device 2300 based on a high-altitude platform and a low-orbit satellite is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0358] The collaborative system construction device 2300 based on the high-altitude platform and the low-orbit satellite is presented in the form of a hardware module. The components of the collaborative system construction device 2300 based on the high-altitude platform and the low-orbit satellite may include but are not limited to: a first selection module 2302, used to select the cluster head satellite of the low-orbit satellite cluster to be formed within the visible range; a collection module 2304, used to collect the tasks to be processed of the users within the visible range; a first negotiation module 2306, used to negotiate with the cluster head satellite based on the computing resource amount of the tasks to be processed, so that the cluster head satellite can form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0359] Refer to the following Fig.24 To describe a collaborative system construction device 2400 based on a high-altitude platform and a low-orbit satellite according to an embodiment of the present invention. Fig.24 The collaborative system construction device 2400 based on a high-altitude platform and a low-orbit satellite is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0360] The collaborative system construction device 2400 based on the high-altitude platform and the low-orbit satellite is presented in the form of a hardware module. The components of the collaborative system construction device 2400 based on the high-altitude platform and the low-orbit satellite may include but are not limited to: a confirmation module 2402, used to confirm the cluster head satellite as the low-orbit satellite cluster to be constructed; a second negotiation module 2404, used to negotiate with the high-altitude platform based on the computing resource amount of the task to be processed collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

[0361] Refer to the following Fig.25 To describe a task processing device 2500 based on collaboration between a high altitude platform and a low-orbit satellite according to an embodiment of the present invention. Fig.25The task processing device 2500 based on the collaboration of a high-altitude platform and a low-orbit satellite is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0362] The task processing device 2500 based on the collaboration of the high-altitude platform and the low-orbit satellite is presented in the form of a hardware module. The components of the task processing device 2500 based on the collaboration of the high-altitude platform and the low-orbit satellite may include but are not limited to: a first selection module 2502, used to select the cluster head satellite of the low-orbit satellite cluster to be formed within the visible range; a collection module 2504, used to collect the tasks to be processed of the users within the visible range; a first negotiation module 2506, used to negotiate with the cluster head satellite based on the amount of computing resources for the tasks to be processed, so that the cluster head satellite can form a low-orbit satellite cluster based on the amount of computing resources and the relationship between satellite neighbors; an allocation module 2508, used to receive the cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, so as to allocate the task processing scheme of the tasks to be processed to the cluster nodes in the low-orbit satellite cluster based on the cluster node information table; a sending module 2510, used to send the task processing scheme to the cluster head satellite, so that the cluster head satellite can distribute the task processing scheme to the corresponding cluster nodes.

[0363] Refer to the following Fig.26 To describe the task processing device 2600 based on the collaboration of the high-altitude platform and the low-orbit satellite according to an embodiment of the present invention. Fig.26 The task processing device 2600 based on the collaboration of a high-altitude platform and a low-orbit satellite is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0364] The task processing device 2600 based on the collaboration of the high-altitude platform and the low-orbit satellite is presented in the form of a hardware module. The components of the task processing device 2600 based on the collaboration of the high-altitude platform and the low-orbit satellite may include but are not limited to: a confirmation module 2602, used to confirm the cluster head satellite of the low-orbit satellite cluster to be constructed; a second negotiation module 2604, used to negotiate with the high-altitude platform based on the amount of computing resources of the tasks to be processed collected by the high-altitude platform, so as to form a low-orbit satellite cluster based on the amount of computing resources and the relationship between satellite neighbors; a feedback module 2606, used to feedback the cluster node information table of the low-orbit satellite cluster to the high-altitude platform, so that the high-altitude platform can allocate the task processing scheme of the tasks to be processed to the cluster nodes in the low-orbit satellite cluster based on the cluster node information table; a first receiving module 2608, used to receive the task processing scheme sent by the high-altitude platform; and a distribution module 2620, used to distribute the task processing scheme to the corresponding cluster nodes.

[0365] Refer to the following Fig. 27 The cluster head satellite switching device 2700 based on the collaboration of the high altitude platform and the low orbit satellite according to the embodiment of the present invention is described. Fig. 27The cluster head satellite switching device 2700 based on the collaboration of a high-altitude platform and a low-orbit satellite is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0366] The cluster head satellite switching device 2700 based on the collaboration of the high-altitude platform and the low-orbit satellite is presented in the form of a hardware module. The components of the cluster head satellite switching device 2700 based on the collaboration of the high-altitude platform and the low-orbit satellite may include but are not limited to: a second selection module 2702, used to select a cluster head satellite of the low-orbit satellite cluster to be formed within the visible range as the original cluster head satellite, so that the low-orbit satellite cluster is formed by the original cluster head satellite based on the inter-satellite neighbor relationship; a calculation module 2704, used to calculate the first qualification decision value of the original cluster head satellite; a switching module 2706, used to determine whether to perform the cluster head satellite switching operation based on the relationship between the first qualification decision value and the qualification threshold.

[0367] Refer to the following Fig.28 The cluster head satellite switching device 2800 based on the collaboration of the high altitude platform and the low orbit satellite according to the embodiment of the present invention is described. Fig.28 The cluster head satellite switching device 2800 based on the collaboration of a high-altitude platform and a low-orbit satellite is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0368] The cluster head satellite switching device 2800 based on the collaboration of the high-altitude platform and the low-orbit satellite is presented in the form of a hardware module. The components of the cluster head satellite switching device 2800 based on the collaboration of the high-altitude platform and the low-orbit satellite may include but are not limited to: a formation module 2802, used to form a low-orbit satellite cluster based on the inter-satellite neighbor relationship; a second receiving module 2804, used to receive a switching evaluation indication sent by the high-altitude platform, and the switching evaluation indication is generated based on the relationship between the first qualification decision value and the qualification threshold of the cluster head satellite.

[0369] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "system".

[0370] Refer to the following Fig.29 The network device 2900 according to this embodiment of the present invention is described below. It can be a high altitude platform or a low orbit satellite. Fig.29 The network device 2900 shown is merely an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0371] like Fig.29As shown, the network device 2900 is in the form of a general computing device. The components of the network device 2900 may include, but are not limited to: at least one processing unit 2910, at least one storage unit 2920, and a bus 2930 connecting different system components (including the storage unit 2920 and the processing unit 2910).

[0372] The storage unit stores program codes, which can be executed by the processing unit 2910, so that the processing unit 2910 performs the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification. For example, the processing unit 2910 can perform the following steps: Figure 2 The scheme described in steps S202 to S206 shown in FIG.

[0373] The storage unit 2920 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 29201 and / or a cache storage unit 29202 , and may further include a read-only storage unit (ROM) 29203 .

[0374] The storage unit 2920 may also include a program / utility 29204 having a set (at least one) of program modules 29205, such program modules 29205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0375] Bus 2930 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0376] The network device 2900 may also communicate with one or more external devices 2970 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the network device 2900, and / or communicate with any device that enables the network device 2900 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 2950. Furthermore, the network device 2900 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 2960. As shown, the network adapter 2960 communicates with other modules of the network device 2900 via a bus 2930. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the network device 2900, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0377] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0378] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes a program code, and when the program product is run on an electronic device, the program code is used to enable the electronic device to perform the steps according to various exemplary implementations of the present invention described in the above "Exemplary Method" section of the present specification.

[0379] The program product for implementing the above method according to an embodiment of the present invention may adopt a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on an electronic device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0380] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0381] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0382] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0383] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0384] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0385] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0386] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0387] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. A method for constructing a collaborative system based on a high-altitude platform and a low-orbit satellite, characterized in that: Applicable to the high altitude platform, including: Selecting a cluster head satellite of a low-orbit satellite cluster to be formed within the visible range; Collect pending tasks of users within the visible range; The cluster head satellite is negotiated with the cluster head satellite based on the computing resource amount of the task to be processed, so that the cluster head satellite forms the low-orbit satellite cluster based on the computing resource amount and inter-satellite neighbor relations.

2. The collaborative system construction method according to claim 1, characterized in that: The step of selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range includes: Sending information collection instructions to visible low-orbit satellites within the visible range; Receive cluster head qualification parameters fed back by visible low-orbit satellites within the visible range, the cluster head qualification parameters including at least one of the remaining service time relative to the high-altitude platform, the channel state information between the high-altitude platform and the high-altitude platform, the number of satellites having the neighbor relationship, and available computing resources; The cluster head satellite is selected based on the cluster head qualification parameter.

3. The collaborative system construction method according to claim 2, characterized in that: The selecting the cluster head satellite based on the cluster head qualification parameter comprises: Determine a first candidate cluster head satellite queue that meets the cluster head qualification requirements based on the cluster head qualification parameters; Determine the head node of the first candidate cluster head satellite queue as a candidate cluster head satellite, and send a cluster head request signaling; receiving indication information fed back by the candidate cluster head satellite based on the cluster head request signaling; If the indication information is an approval indication, sending a confirmation signaling to the candidate cluster head satellite to confirm that the candidate cluster head satellite becomes the cluster head satellite; If the indication information is a rejection indication, reselecting the cluster head satellite from the first candidate cluster head satellite queue.

4. The collaborative system construction method according to claim 3, characterized in that: The determining, based on the cluster head qualification parameter, a first candidate cluster head satellite queue that meets the cluster head qualification requirement comprises: Calculating a first qualification decision value of the cluster head qualification parameter of the visible low-orbit satellite; The visible low-orbit satellites whose first qualification decision values ​​are greater than the qualification threshold are sorted to obtain the first candidate cluster head satellite queue that meets the cluster head qualification requirements.

5. The collaborative system construction method according to any one of claims 1 to 4, characterized in that: The collecting of pending tasks of users within the visible range includes: Sending a task collection signaling to collect pending tasks of users within the visible range; and Obtain the delay constraint, task data volume and required number of CPU cycles of the task to be processed.

6. The collaborative system construction method according to claim 5, characterized in that: The negotiating with the cluster head satellite based on the amount of computing resources for the task to be processed, so that the cluster head satellite forms the low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relationships, comprises: Calculating the computing resource amount of the task to be processed based on the delay constraint, the task data amount and the CPU cycle number; The computing resource amount is sent to the cluster head satellite to receive a construction signaling fed back by the cluster head satellite based on the computing resource amount and the inter-satellite neighbor relationship, wherein the construction signaling is used to indicate that the low-orbit satellite cluster has been established, and the construction signaling also includes node information of the low-orbit satellite cluster.

7. A method for constructing a collaborative system based on collaboration between a high-altitude platform and a low-orbit satellite, characterized in that: Applied to cluster head satellites, including: Confirming the cluster head satellite as the low-orbit satellite cluster to be constructed; Based on the computing resource amount of the tasks to be processed collected by the high-altitude platform, negotiation is performed with the high-altitude platform to form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

8. The collaborative system construction method according to claim 7, characterized in that: The step of confirming the cluster head satellite as the low-orbit satellite cluster to be constructed includes: Receiving a cluster head request signaling sent by the high-altitude platform; Obtaining estimated task processing occupancy information carried by the cluster head request signaling; Determining whether to agree to become the cluster head satellite based on the estimated task processing occupancy information; If the user agrees to become the cluster head satellite, the user feeds back indication information of the agreement to the high-altitude platform; Receive a confirmation signal sent by the high-altitude platform to confirm becoming the cluster head satellite.

9. The collaborative system construction method according to claim 7, characterized in that: The method of negotiating with the high-altitude platform based on the amount of computing resources for the tasks to be processed collected by the high-altitude platform to form the low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relationships includes: Sending an information collection instruction to a low-orbit satellite having the inter-satellite neighbor relationship; receiving satellite qualification parameters fed back by the low-orbit satellite based on the information collection instruction, wherein the satellite qualification parameters include a remaining service time and available computing resources of the low-orbit satellite relative to the cluster head satellite; Calculating a second qualification decision value for each of the low-orbit satellites based on the satellite qualification parameters; Sort the plurality of low-orbit satellites according to the second qualification decision value from high to low to generate a candidate member node queue; The low-orbit satellite cluster is formed based on the candidate member node queue and the computing resource amount.

10. The collaborative system construction method according to claim 9, characterized in that: The forming of the low-orbit satellite cluster based on the candidate member node queue and the computing resource amount includes: Initiate a node clustering process, take the head node in the candidate member node queue as the target node, and send a clustering request to the target node; If a cluster entry signaling is received indicating that the target node accepts cluster entry, the target node is added to the low-orbit satellite cluster, and the target node is removed from the candidate member node queue, wherein the cluster entry signaling includes the satellite qualification parameter; If a rejection signaling is received from the target node refusing to join the cluster, the target node is removed from the candidate member node queue, and a new head node in a new candidate member node queue is determined as the target node; Determining whether the existing low-orbit satellite cluster meets the mission requirements based on the amount of computing resources; If the mission requirement is not met, continue to add new target nodes to the low-orbit satellite cluster until the low-orbit satellite cluster that meets the mission requirement is formed.

11. The collaborative system construction method according to claim 10, characterized in that: Also includes: The low-orbit satellite cluster is maintained based on the intra-cluster node information table.

12. The collaborative system construction method according to claim 11, characterized in that: The maintaining the low-orbit satellite cluster based on the intra-cluster node information table includes: receiving a willingness indication instruction reported by a cluster node in the low-orbit satellite cluster within a preset time interval, wherein the willingness indication instruction is used to indicate whether the cluster node is willing to continue to serve as the cluster node; If the node is willing to continue to serve as the node in the cluster, obtain the updated satellite qualification parameters carried by the willingness indication instruction, and update the corresponding satellite qualification parameters in the node information table in the cluster to update the low-orbit satellite cluster; If the node is unwilling to continue to be the node in the cluster, a node exit process is initiated, and the corresponding node in the cluster is deleted from the node information table in the cluster to update the low-orbit satellite cluster.

13. The collaborative system construction method according to claim 12, characterized in that: The initiating node exit process includes: determining a node that is unwilling to continue to be a node in the cluster as a node to be exited, and sending an exit signaling to the node to be exited; receiving the remaining task amount fed back by the node to be exited based on the exit signaling; Customizing a task transfer decision to inform the node to be exited to transfer the remaining task to another node in the cluster for processing; Receive feedback signaling from the node to be exited, where the feedback signaling is used to indicate that the node in another cluster has received the remaining task amount, so as to update the low-orbit satellite cluster.

14. The collaborative system construction method according to claim 12, characterized in that: Also includes: The sending node of the intention indication instruction not received within the preset time interval is determined as a lost cluster node, and the lost cluster node is deleted from the cluster node information table to update the low-orbit satellite cluster.

15. The collaborative system construction method according to claim 12, characterized in that: Also includes: Detecting whether the updated low-orbit satellite cluster meets the mission requirement based on the updated intra-cluster node information table; If the mission requirement is not met, the low-orbit satellite is selected to join the low-orbit satellite cluster based on a second qualification decision value.

16. A task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite, characterized in that: Applicable to the high altitude platform, including: Selecting a cluster head satellite of a low-orbit satellite cluster to be formed within the visible range; Collect pending tasks of users within the visible range; Negotiating with the cluster head satellite based on the amount of computing resources of the task to be processed, so that the cluster head satellite forms the low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relationships; receiving the intra-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, so as to allocate the task processing scheme of the to-be-processed task to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; The task processing solution is sent to the cluster head satellite, so that the cluster head satellite distributes the task processing solution to the corresponding nodes in the cluster.

17. The task processing method according to claim 16, characterized in that: The receiving the intra-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, and allocating the task processing scheme of the to-be-processed task to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table, comprises: Calculating a first transmission delay for unloading the task to be processed to the cluster head satellite based on a channel bandwidth and a channel gain between the cluster head satellite and the cluster head satellite and a transmission power for unloading the task to be processed to the cluster head satellite; The task processing plan is formulated for the task to be processed, so as to select the node within the cluster that executes the task processing plan within the low-orbit satellite cluster based on the first transmission delay.

18. The task processing method according to claim 16, characterized in that: The step of sending the task processing solution to the cluster head satellite comprises: Constructing a task queue node based on the delay constraint of the task to be processed, the task data volume and the required number of CPU cycles; Constructing a task queue based on a plurality of the task queue nodes; The task queue is sent to the cluster head satellite together with the task processing plan.

19. The task processing method according to any one of claims 16 to 18, characterized in that: Also includes: Receive the execution result of the task processing solution by the cluster head satellite based on the collected nodes in the cluster.

20. A task processing method based on the collaboration of a high-altitude platform and a low-orbit satellite, characterized in that: Applied to cluster head satellites, including: Confirming the cluster head satellite as the low-orbit satellite cluster to be constructed; Negotiating with the high-altitude platform based on the amount of computing resources of the tasks to be processed collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relationships; Feedback the intra-cluster node information table of the low-orbit satellite cluster to the high-altitude platform, so that the high-altitude platform allocates the task processing scheme of the to-be-processed task to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; Receiving the task processing plan sent by the high-altitude platform; Distribute the task processing solution to the corresponding nodes in the cluster.

21. The task processing method according to claim 20, characterized in that: The step of distributing the task processing solution to the corresponding nodes in the cluster includes: For each of the nodes in the cluster, calculating a second transmission delay for sending the to-be-processed task from the cluster head satellite to the node in the cluster; Calculating the minimum computing frequency required for the nodes in the cluster to process the task to be processed based on the second transmission delay and the first transmission delay, wherein the first transmission delay is the transmission delay for unloading the task to be processed from the high-altitude platform to the cluster head satellite; Traversing the nodes in the cluster based on the available calculation frequency and the minimum calculation frequency, so as to determine the corresponding node in the cluster based on the traversal result; The task processing scheme and the corresponding delay constraint, task data volume and required number of CPU cycles are distributed to the corresponding nodes in the cluster.

22. The task processing method according to claim 20 or 21, characterized in that: Also includes: The execution results of the task processing solution by the nodes in the cluster are collected and sent to the high-altitude platform.

23. A cluster head satellite switching method based on the collaboration of a high altitude platform and a low orbit satellite, characterized in that: Applicable to the high altitude platform, including: Selecting a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range as an original cluster head satellite, so that the low-orbit satellite cluster is formed by the original cluster head satellite based on an inter-satellite neighbor relationship; Calculating a first qualification decision value of the original cluster head satellite; Based on the relationship between the first qualification decision value and the qualification threshold, it is determined whether to perform a cluster head satellite switching operation.

24. The cluster head satellite switching method according to claim 23, characterized in that: The determining whether to perform a cluster head satellite switching operation based on the relationship between the first qualification decision value and the qualification threshold comprises: If the first qualification decision value is greater than or equal to the qualification threshold, determining that the original cluster head satellite continues to maintain the low-orbit satellite cluster; If the first qualification decision value is less than the qualification threshold, a cluster head satellite switching process is initiated to perform a cluster head satellite switching operation.

25. The cluster head satellite switching method according to claim 24, characterized in that: The process of initiating cluster head satellite switching includes: Sending information collection instructions to visible low-orbit satellites other than the original cluster head satellite within the visible range; Receive cluster head qualification parameters fed back by visible low-orbit satellites within the visible range, the cluster head qualification parameters including at least one of the remaining service time relative to the high-altitude platform, the channel state information between the high-altitude platform and the high-altitude platform, the number of satellites having the neighbor relationship, and available computing resources; A second candidate cluster head satellite queue that meets the switching qualification requirement is determined based on the cluster head qualification parameter, so as to perform a cluster head satellite switching operation based on the second candidate cluster head satellite queue.

26. The cluster head satellite switching method according to claim 25, characterized in that: The performing the cluster head satellite switching operation based on the second candidate cluster head satellite queue includes: Sending a cluster head switching signaling to the original cluster head satellite, wherein the cluster head switching signaling includes the second candidate cluster head satellite queue, so that the original cluster head satellite retrieves the second candidate cluster head satellite queue and the same satellite in the low-orbit satellite cluster, and constructs a candidate satellite queue by the same satellite; Receiving the candidate satellite queue sent by the original cluster head satellite; Calculating a first qualification decision value of the same satellite in the candidate satellite array; Adjusting the order of the candidate satellite queues from high to low based on the first qualification decision value to obtain an adjusted satellite queue; Determining the head satellite of the adjusted satellite queue as the target cluster head satellite; Sending a cluster head request signaling to the target cluster head satellite; receiving indication information fed back by the target cluster head satellite based on the cluster head request signaling; If the indication information is an approval indication, sending a confirmation signaling to the target cluster head satellite to confirm that the target cluster head satellite becomes a new cluster head satellite after the switch; If the indication information is a rejection indication, the target cluster head satellite is reselected from the adjustment satellite queue.

27. The cluster head satellite switching method according to claim 26, characterized in that: The performing of the cluster head satellite switching operation based on the second candidate cluster head satellite queue also includes: Sending the identity information of the new cluster head satellite to the original cluster head satellite, so that the original cluster head satellite initiates a migration operation of the task processing solution to the new cluster head satellite based on the identity information; receiving a switching success confirmation signaling fed back by the new cluster head satellite based on the migration operation, wherein the switching success confirmation signaling is used to indicate that the cluster head satellite switching operation is completed, Among them, the new cluster head satellite determines whether the existing low-orbit satellite cluster meets the mission requirements based on the amount of computing resources, so that when the mission requirements are not met, a new target node with the optimal second qualification decision value is added to the low-orbit satellite cluster until the low-orbit satellite cluster that meets the mission requirements is formed.

28. A cluster head satellite switching method based on the collaboration of a high altitude platform and a low orbit satellite, characterized in that: Applied to cluster head satellites, including: Form a low-orbit satellite cluster based on inter-satellite neighbor relationships; A switching evaluation indication sent by the high-altitude platform is received, where the switching evaluation indication is generated based on a relationship between a first qualification decision value and a qualification threshold for the cluster head satellite.

29. The cluster head satellite switching method according to claim 28, characterized in that: The receiving the switching evaluation instruction sent by the high-altitude platform includes: If the switching evaluation indication is for maintaining the cluster head satellite, continuing to maintain the low-orbit satellite cluster; If the switching evaluation indication is used to switch the cluster head satellite, the switching evaluation indication includes a cluster head switching signaling, and the cluster head switching signaling includes a second candidate cluster head satellite queue; Retrieving the same satellite in the second candidate cluster head satellite queue and the low-orbit satellite cluster, and constructing a candidate satellite queue by using the same satellite; The candidate satellite array is sent to the high-altitude platform.

30. The cluster head satellite switching method according to claim 29, characterized in that: Also includes: Receiving identity information of a new cluster head satellite sent by the high-altitude platform; A migration operation of a task processing solution is initiated to the new cluster head satellite based on the identity information.

31. A collaborative system construction device based on a high-altitude platform and a low-orbit satellite, characterized in that: Applicable to the high altitude platform, including: A first selection module is used to select a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range; A collection module, used to collect pending tasks of users within the visible range; The first negotiation module is used to negotiate with the cluster head satellite based on the computing resource amount of the task to be processed, so that the cluster head satellite forms the low-orbit satellite cluster based on the computing resource amount and inter-satellite neighbor relationship.

32. A collaborative system construction device based on collaboration between a high-altitude platform and a low-orbit satellite, characterized in that: Applied to cluster head satellites, including: A confirmation module, used for confirming the cluster head satellite as the low-orbit satellite cluster to be constructed; The second negotiation module is used to negotiate with the high-altitude platform based on the computing resource amount of the tasks to be processed collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship.

33. A task processing device based on the collaboration of a high-altitude platform and a low-orbit satellite, characterized in that: Applicable to the high altitude platform, including: A first selection module is used to select a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range; A collection module, used to collect pending tasks of users within the visible range; A first negotiation module is used to negotiate with the cluster head satellite based on the amount of computing resources of the task to be processed, so that the cluster head satellite forms the low-orbit satellite cluster based on the amount of computing resources and inter-satellite neighbor relations; an allocation module, configured to receive the intra-cluster node information table of the low-orbit satellite cluster fed back by the cluster head satellite, and to allocate the task processing scheme of the to-be-processed task to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; The sending module is used to send the task processing solution to the cluster head satellite, so that the cluster head satellite distributes the task processing solution to the corresponding nodes in the cluster.

34. A task processing device based on the collaboration of a high-altitude platform and a low-orbit satellite, characterized in that: Applied to cluster head satellites, including: A confirmation module, used for confirming the cluster head satellite as the low-orbit satellite cluster to be constructed; A second negotiation module is used to negotiate with the high-altitude platform based on the computing resource amount of the to-be-processed tasks collected by the high-altitude platform, so as to form the low-orbit satellite cluster based on the computing resource amount and the inter-satellite neighbor relationship; A feedback module, used for feeding back the intra-cluster node information table of the low-orbit satellite cluster to the high-altitude platform, so that the high-altitude platform can allocate the task processing scheme of the to-be-processed task to the intra-cluster nodes in the low-orbit satellite cluster based on the intra-cluster node information table; A first receiving module, used for receiving the task processing solution sent by the high-altitude platform; The distribution module is used to distribute the task processing solution to the corresponding nodes in the cluster.

35. A cluster head satellite switching device based on the collaboration of a high-altitude platform and a low-orbit satellite, characterized in that: Applicable to the high altitude platform, including: A second selection module is used to select a cluster head satellite of a low-orbit satellite cluster to be formed within a visible range as an original cluster head satellite, so that the low-orbit satellite cluster is formed by the original cluster head satellite based on an inter-satellite neighbor relationship; A calculation module, used for calculating a first qualification decision value of the original cluster head satellite; The switching module is used to determine whether to perform a cluster head satellite switching operation based on the relationship between the first qualification decision value and the qualification threshold.

36. A cluster head satellite switching device based on the collaboration of a high-altitude platform and a low-orbit satellite, characterized in that: Applied to cluster head satellites, including: A building module, used to build a low-orbit satellite cluster based on inter-satellite neighbor relationships; The second receiving module is used to receive the switching evaluation indication sent by the high-altitude platform, where the switching evaluation indication is generated based on the relationship between the first qualification decision value and the qualification threshold of the cluster head satellite.

37. A high altitude platform, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the collaborative system construction method based on high-altitude platform and low-orbit satellite described in any one of claims 1 to 6 by executing the executable instructions, and / or the task processing method based on the collaboration of high-altitude platform and low-orbit satellite described in any one of 16 to 19, and / or the cluster head satellite switching method based on the collaboration of high-altitude platform and low-orbit satellite described in any one of 23 to 27.

38. A low-orbit satellite, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the collaborative system construction method based on high-altitude platforms and low-orbit satellites as described in any one of claims 7 to 15 by executing the executable instructions, and / or the task processing method based on the collaboration of high-altitude platforms and low-orbit satellites as described in any one of claims 20 to 22, and the cluster head satellite switching method based on the collaboration of high-altitude platforms and low-orbit satellites as described in any one of claims 28 to 30.

39. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the collaborative system construction method based on the collaboration of high-altitude platforms and low-orbit satellites as described in any one of claims 1 to 15, and / or the task processing method based on the collaboration of high-altitude platforms and low-orbit satellites as described in any one of claims 16 to 22, and / or the cluster head satellite switching method based on the collaboration of high-altitude platforms and low-orbit satellites as described in any one of claims 23 to 30.

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