Low-orbit satellite beam scheduling and user grouping method, device, equipment and storage medium

Abstract

The present application discloses a low-orbit satellite beam scheduling and user grouping method, apparatus, device and storage medium, which relates to the field of communication technology. The method includes: hierarchically processing the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam; scanning the existing signaling wave position based on the first-level beam to determine the target signaling wave position of the user equipment; randomly accessing the target signaling wave position based on the second-level beam to determine the position of the user equipment corresponding to the target signaling wave position; clustering the position of the user equipment based on the third-level beam to determine the user cluster set and the cluster centroid of the user cluster set; using the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling. Through the above method, multi-beam multi-user scheduling is realized, the user access waiting time is reduced, the resource utilization efficiency is guaranteed, the interference is reduced, and the throughput rate is improved.

Description

Technical Field

[0001] The present application relates to the field of optical communication technology, and in particular to a method, apparatus, device and storage medium for low-orbit satellite beam scheduling and user grouping. Background Art

[0002] In the scenario of low-orbit satellite payloads providing wide-area coverage, ultra-large-scale multi-beam antennas are usually used for beamforming and beam hopping. This not only reduces interference between users and cells and enhances edge coverage, but also reduces communication payload power loss and increases radiation power to ensure sufficient access power reserve and service power reserve. Due to the large coverage area, a large number of users may need to access the cell at the same time. In order to meet the rapid access needs of a large number of users and the high-speed rate requirements of a small number of users, beams need to be classified into signaling beams and service beams. Signaling beams are mainly used for communication processes such as broadcast transmission, random access, and mobile management, while service beams are mainly used for the transmission of service data.

[0003] Because users must wait until their beam position is covered by a satellite before they can interact with the satellite for signaling, beam scheduling and user grouping are necessary. The currently widely used traditional approach uses a single signaling beam (wide beam) to poll the satellite coverage area for UE access, and then uses a service beam (narrow beam) to cover the service beam position for subsequent service processes. However, in this scenario, the traditional beam scheduling and user grouping methods are inefficient.

[0004] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0005] The main purpose of this application is to provide a low-orbit satellite beam scheduling and user grouping method, device, equipment and storage medium, aiming to solve the technical problem in the existing technology that the traditional method of beam scheduling and user grouping is inefficient in the scenario of wide-area coverage of low-orbit satellite payloads.

[0006] To achieve the above objectives, the present application provides a low-orbit satellite beam scheduling and user grouping method, the method comprising:

[0007] The beam resources of the low-orbit satellite are processed hierarchically to obtain the first-level beam, the second-level beam and the third-level beam;

[0008] Scanning the existing signaling beam positions based on the first-level beam to determine the target signaling beam position of the user equipment;

[0009] Performing random access to the target signaling beam based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam;

[0010] Clustering the positions of the user equipment based on the third-level beam, and determining a user cluster set and a cluster centroid of the user cluster set;

[0011] The cluster centroid of the user cluster set is used as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0012] In one embodiment, the step of randomly accessing the target signaling beam based on the second-level beam and determining a position of a user equipment corresponding to the target signaling beam includes:

[0013] Sorting the target signaling wave positions based on the random access timing and the number of device accesses of the target signaling wave positions to determine a wave position sorting result;

[0014] Based on the wave position sorting result, determining the lighting order and lighting duration of the target signaling wave position;

[0015] Based on the second-level beam, lighting up the corresponding target signaling beam position according to the lighting order and the lighting duration;

[0016] Based on the second-level beam, random access is performed on the lit target signaling beam position to enable the corresponding user equipment to enter a preset connection state and obtain the position of the user equipment.

[0017] In one embodiment, the step of clustering the positions of the user equipment based on the third-level beam and determining a user cluster set and a cluster centroid of the user cluster set includes:

[0018] Based on the third-level beam, selecting a corresponding initial cluster centroid according to the number of clusters at the location of the user equipment;

[0019] Determine a nearest cluster centroid of the user equipment based on a distance between the location of the user equipment and the initial cluster centroid, and divide the location of the user equipment into a user cluster set corresponding to the nearest cluster centroid;

[0020] Updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set;

[0021] Invalid positions in the user cluster set are deleted, where the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

[0022] In one embodiment, the step of selecting the corresponding initial cluster centroid according to the number of clusters at the location of the user equipment includes:

[0023] Randomly selecting a first initial cluster centroid at the location of the user equipment;

[0024] Determine a farthest position among the positions of the user equipment based on a distance between the position of the user equipment and the selected initial cluster centroid, and use the farthest position as the next initial cluster centroid;

[0025] Get the selected number of initial cluster centroids;

[0026] When the selected number is greater than or equal to the number of cluster families, the steps of determining the nearest cluster centroid of the user device based on the distance between the location of the user device and the initial cluster centroid and dividing the location of the user device into the user cluster set corresponding to the nearest cluster centroid are performed.

[0027] In one embodiment, the step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set includes:

[0028] Obtaining the correspondence between the initial cluster centroid, the location of the user device and the cluster centroid;

[0029] The cluster centroid of the user cluster set is determined based on the position of the user equipment in the user cluster set, the initial cluster centroid of the user cluster set, and the corresponding relationship.

[0030] In one embodiment, after the step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set, the method further includes:

[0031] Determining an updated centroid difference of the user cluster set based on the cluster centroid of the user cluster set and the initial cluster centroid;

[0032] Determining a centroid distance between the user cluster sets based on the cluster centroids of the user cluster sets;

[0033] When the centroid update difference of the user cluster set is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, it is determined that the cluster centroid test of the user cluster set passes, and the step of deleting invalid positions in the user cluster set is executed.

[0034] In one embodiment, the step of scanning the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment includes:

[0035] Scanning the existing signaling beam position based on the first-level beam, determining the target signaling beam position direction for receiving the random access information sent by the user equipment;

[0036] Based on the target signaling beam position direction, a target signaling beam position of the user equipment is determined.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a low-orbit satellite beam scheduling and user grouping device, which includes:

[0038] The beam scheduling module is used to hierarchically process the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam, and the third-level beam;

[0039] The beam scheduling module is further configured to scan the existing signaling beam positions based on the first-level beam to determine the target signaling beam position of the user equipment;

[0040] The beam scheduling module is further configured to perform random access to the target signaling beam based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam;

[0041] A user grouping module, configured to cluster the positions of the user equipment based on the third-level beam, and determine a user cluster set and a cluster centroid of the user cluster set;

[0042] The beam scheduling module is further configured to use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0043] In addition, to achieve the above-mentioned purpose, the present application also proposes a low-orbit satellite beam scheduling and user grouping device, which includes: a memory, a processor, and a computer program stored in the memory and runnable on the processor. The computer program is configured to implement the steps of the low-orbit satellite beam scheduling and user grouping method as described above.

[0044] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the low-orbit satellite beam scheduling and user grouping method as described above are implemented.

[0045] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the steps of the low-orbit satellite beam scheduling and user grouping method as described above.

[0046] The present application provides a low-orbit satellite beam scheduling and user grouping method, which performs hierarchical processing on the beam resources of the low-orbit satellite to obtain a first-level beam, a second-level beam and a third-level beam; based on the first-level beam, the existing signaling wave position is scanned to determine the target signaling wave position of the user equipment; based on the second-level beam, the target signaling wave position is randomly accessed to determine the position of the user equipment corresponding to the target signaling wave position; based on the third-level beam, the position of the user equipment is clustered to determine the user cluster set and the cluster centroid of the user cluster set; the cluster centroid of the user cluster set is used as the central coverage position of the third-level beam to complete beam hopping scheduling. Satellite beam resources are processed in a hierarchical manner, with different hierarchical beams used for the broadcast process, access process, and business process respectively. The satellite side groups users based on a clustering algorithm, determines the center point position of the business beam, and finally completes beam hopping scheduling. This can achieve multi-beam multi-user scheduling, reduce user access waiting time, ensure resource utilization efficiency, reduce interference, and improve throughput, solving the technical problem of low efficiency of beam scheduling and user grouping in scenarios where low-orbit satellite payloads provide wide-area coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 This is a flowchart of Embodiment 1 of the low-orbit satellite beam scheduling and user grouping method of the present application;

[0050] Figure 2 A schematic diagram of a low-orbit satellite communication wireless channel transmission model for the low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0051] Figure 3 Schematic diagram of the high-altitude base station downlink beamforming and user grouping system model for the low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0052] Figure 4 A schematic diagram of all signaling beam positions scanned by a signaling beam for the low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0053] Figure 5Schematic diagram of a signaling beam pointing to a specific signaling beam position in the low-orbit satellite beam scheduling and user grouping method provided in Example 1 of the present application;

[0054] Figure 6 This is a flowchart of Embodiment 2 of the low-orbit satellite beam scheduling and user grouping method of the present application;

[0055] Figure 7 A schematic diagram of a simplified flow chart of the low-orbit satellite beam scheduling and user grouping method provided in Example 2 of the present application;

[0056] Figure 8 This is a schematic diagram of the module structure of the low-orbit satellite beam scheduling and user grouping device according to an embodiment of the present application;

[0057] Figure 9 This is a schematic diagram of the device structure of the hardware operating environment involved in the low-orbit satellite beam scheduling and user grouping method in the embodiment of the present application.

[0058] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0059] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0060] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0061] The main solution of the embodiment of the present application is: hierarchically process the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam; scan the existing signaling wave position based on the first-level beam to determine the target signaling wave position of the user equipment; randomly access the target signaling wave position based on the second-level beam to determine the position of the user equipment corresponding to the target signaling wave position; cluster the position of the user equipment based on the third-level beam to determine the user cluster set and the cluster centroid of the user cluster set; use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete the beam hopping scheduling.

[0062] With the growing demand for high data rates and seamless global coverage in wireless communication systems, low-orbit satellite communications have been seen as an effective complement to terrestrial communication infrastructure. Low-orbit satellite communications represent a new direction for wireless infrastructure development. By deploying multi-beam phased array antennas, energy efficiency, spectrum efficiency, and system throughput can be significantly improved.

[0063] In the scenario of low-orbit satellite payloads providing wide-area coverage, ultra-large-scale multi-beam antennas are usually used for beamforming and beam hopping. This not only reduces interference between users and cells and enhances edge coverage, but also reduces communication payload power loss and increases radiation power to ensure sufficient access power reserve and service power reserve. Due to the large coverage area, a large number of users may need to access the cell at the same time. In order to meet the rapid access needs of a large number of users and the high-speed rate requirements of a small number of users, beams need to be classified into signaling beams and service beams. Signaling beams are mainly used for communication processes such as broadcast transmission, random access, and mobile management, while service beams are mainly used for the transmission of service data.

[0064] Because users must wait until their beam position is covered by a satellite before they can interact with the satellite for signaling, beam scheduling and user grouping are necessary. The currently widely used traditional approach uses a single signaling beam (wide beam) to poll the satellite coverage area for UE access, and then uses a service beam (narrow beam) to cover the service beam position for subsequent service processes. However, in scenarios where low-orbit satellite payloads provide wide-area coverage, traditional beam scheduling and user grouping methods are inefficient.

[0065] The present application provides a solution for hierarchical processing of satellite beam resources. Different hierarchical beams are used for the broadcast process, access process, and business process respectively. The satellite side groups users based on a clustering algorithm, determines the center point position of the business beam, and finally completes beam hopping scheduling. This can realize multi-beam multi-user scheduling, reduce user access waiting time, ensure resource utilization efficiency, reduce interference, and improve throughput. It solves the technical problem of low efficiency of beam scheduling and user grouping in the scenario of wide-area coverage of low-orbit satellite payloads.

[0066] It should be noted that the execution subject of this embodiment may be a computing service device with data processing, network communication, and program execution capabilities, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the aforementioned functions, such as a low-orbit satellite beam scheduling and user grouping device. This embodiment is not specifically limited to this. The following uses a low-orbit satellite beam scheduling and user grouping device as an example to illustrate this embodiment and the following embodiments.

[0067] The embodiment of the present application provides a low-orbit satellite beam scheduling and user grouping method, referring to Figure 1 , Figure 1 This is a flowchart of the first embodiment of the low-orbit satellite beam scheduling and user grouping method of the present application.

[0068] In this embodiment, the low-orbit satellite beam scheduling and user grouping method includes steps S10 to S50:

[0069] Step S10, performing hierarchical processing on the beam resources of the low-orbit satellite to obtain a first-level beam, a second-level beam, and a third-level beam;

[0070] It should be noted that the wireless channel transmission model of low-orbit satellite communication can be referred to Figure 2 Since the communication payload is located at 300~1500km, which is much higher than the altitude of the ground base station, the transmission between the low-orbit satellite communication payload and the ground receiver has a direct path component and a non-line-of-sight reflection multipath component, so its channel model can be regarded as a Ricean channel.

[0071] In addition, it should be noted that, refer to Figure 3 , a low-orbit satellite carries a communication payload and uses a uniform phased array antenna array to construct a beam-hopping system, where each row has N antennas and each column has M antennas, which can simultaneously generate β (β ≥ 2) signaling beams and γ service beams. Assume that the number of wave positions that the signaling beam needs to cover is The wavelengths that the service beam needs to cover change dynamically with user distribution and service demands. The 3dB beamwidth of the signaling beam must be much larger than the 3dB beamwidth of the service beam. A single satellite serves U single-antenna users. Signaling beams are primarily used for communication processes such as broadcast transmission, random access, and mobility management; service beams are primarily used for the transmission of service data. The sizes of signaling beams and service beams are usually different, depending on factors such as capacity and latency. For example, a signaling beam is typically designed as a wide beam, while a service beam is designed as a specific narrow beam that transmits relevant data to a specific user.

[0072] In this embodiment, the beam resources of the low-orbit satellite are processed in a hierarchical manner and divided into first-level beams, second-level beams and third-level beams. The first-level beam and the second-level beam are signaling beams. Among the β signaling beams, 1 signaling beam is used for SSB (Synchronization Signal and PBCH block) scanning and MSG1 reception, which is called the first-level beam. β-1 signaling beams are used for MSG2~MSG4 transceiver processing and CSI-RS (Channel State Information-Reference Signal, reference signal for measuring channel state information) transceiver, which is called the second-level beam. γ service beams, called third-level beams, are used for service processes. MSG1~MSG4 are four messages exchanged with UE (User Equipment) during the random access process.

[0073] Step S20: Scan the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment;

[0074] It should be noted that the reference Figure 4 Assuming that there are 16 (K=16) signaling wave positions within the coverage area of ​​the low-orbit satellite and there is only one signaling beam, then the signaling beam will periodically scan all signaling wave positions in the order of C1, C2, ..., C15, C16, C1, C2, ...

[0075] In a feasible implementation, step S20 may include steps S201 to S202:

[0076] Step S201: Scan the existing signaling beam position based on the first-level beam to determine the target signaling beam position direction for receiving the random access information sent by the user equipment;

[0077] It should be noted that the user equipment in this embodiment refers to the user equipment that needs access, that is, the user equipment that needs service coverage. The existing signaling beam refers to all current signaling beams, and the target signaling beam direction is the direction of the signaling beam where the user equipment is located.

[0078] It can be understood that the first-level beam scans the synchronization signal and PBCH block (SSB), and the SSB burst set is periodic, and each SSB is consistent with a signaling wave direction. The UE obtains the direction of the serving satellite at the current moment based on the ephemeris information, so there is no need to traverse all possible receiving beam directions like the terrestrial 5G network. The receiving beam can be directly aligned with the satellite to receive the SSB signal. The UE obtains information about the RACH (Random Access Channel) configuration from the received system information and sends MSG1 (the transmission channel is PRACH (Physical Random Access Channel)) in the direction of the corresponding signaling beam at the specified random access opportunity (RACH Occasion, RO). The random access information sent by the user equipment is MSG1.

[0079] It should be understood that whether there is MSG1 sent by UE in the signaling wave direction corresponding to each SSB is detected. If so, there is user equipment in the signaling wave direction, that is, the signaling wave direction is the target signaling wave direction.

[0080] Step S202: Determine the target signaling beam position of the user equipment based on the target signaling beam position direction.

[0081] It should be noted that the target signaling wave position is the signaling wave position where the user equipment is located, and can also be considered as the signaling wave position with UE access requirements, and needs to be determined in the existing signaling wave positions.

[0082] It can be understood that, in specific implementation, according to the correspondence between each SSB and the signaling wave direction, the signaling wave number of the UE to be accessed can be determined, thereby determining the target signaling wave. After the SSB cycle is sent and all signaling wave directions MSG1 are received, the target signaling wave of the user equipment is obtained. At this time, the set of target signaling wave is Where J≤K.

[0083] In this implementation, the first-level beam mainly performs SSB beam scanning, polls the signaling wave position in the satellite coverage area, and is simultaneously responsible for receiving MSG1 (PRACH) in the current area, and determines the signaling wave position of the current UE through the PRACH time-frequency position.

[0084] Step S30: performing random access to the target signaling beam based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam;

[0085] It should be noted that the reference Figure 5 Assume that after the first-level beam processing, there are 6 (J=6, J={C1, C3, C4, C8, C10, C15}) signaling beams with UE access requirements, that is, there are 6 target signaling beams, and the second-level beam has 4 (β-1) available signaling beams, then the second-level beam will only light up the signaling beams with service access requirements.

[0086] In a feasible implementation, step S30 may include steps S301 to S304:

[0087] Step S301, sorting the target signaling beam bits based on the random access timing and the number of device accesses of the target signaling beam bits, and determining a beam bit sorting result;

[0088] It should be noted that the number of device access refers to the number of UE access. This embodiment sorts the signaling wave positions with UE access requirements according to the RO opportunity and the number of UE access. The final sorting result is the wave position sorting result.

[0089] Step S302: determining the lighting order and lighting duration of the target signaling beam based on the beam sorting result;

[0090] It can be understood that, according to the obtained wave position sorting result, the lighting order and lighting duration of each target signaling wave position are determined respectively.

[0091] Step S303: Based on the second-level beam, light up the corresponding target signaling beam position according to the lighting sequence and the lighting duration;

[0092] Step S304: Randomly access the lit target signaling beam based on the second-level beam to enable the corresponding user equipment to enter a preset connection state and obtain the position of the user equipment.

[0093] It should be noted that the preset connection state refers to the RRC connected state. The RRC connected state is a connection state between the UE and the network in a wireless communication network, indicating that the UE has established an RRC context and all necessary communication parameters have been known to both communicating parties.

[0094] It is understandable that after completing the random access process, the UE enters the RRC connected state, at which time the specific location of the UE can be determined. In this embodiment, the Cartesian coordinate system is used as the representation of the specific location of the UE, and the location coordinates of the kth user equipment can be expressed as U k {x k ,y k ,z k}.

[0095] In this implementation, the second-level beam adopts a beam-hopping design, which is mainly responsible for transmitting and receiving MSG2 to MSG4 for the target signaling beam determined by the first-level beam, and completing the CSI-RS measurement, and finally determining the final location of the UE with access requirements. At this time, the UE enters the RRC connected state.

[0096] Step S40: clustering the positions of the user equipment based on the third-level beam, and determining a user cluster set and a cluster centroid of the user cluster set;

[0097] It should be noted that when determining the direction of the service beam, the user equipment must be grouped to obtain the maximum system throughput.

[0098] In addition, it should be noted that for the low-orbit satellite communication channel model, the channel vector h of the u-th user is i It can be expressed as:

[0099]

[0100] Where h u is a MN×1 column vector, K u is the Ricean factor of user u, and denote the LOS component and the Non-Line-of-Sight (NLOS) component, respectively, and h u 、 and is a MN×1 column vector, is a Gaussian random variable with zero mean and unit variance. For satellite payloads using the UPA (Uniform Rectangular Array) geometry, the LOS component of the u-th user is It can be expressed as:

[0101]

[0102] as well as

[0103]

[0104]

[0105] in, represents the Kronecker product, and are the user’s horizontal and vertical transmission angles, d v and d v are the distances between adjacent antennas in the column and row directions, respectively, and λ is the carrier wavelength. Assuming that the satellite payload can obtain valid CSI information, the precoding matrix using ZF beamforming can be expressed as:

[0106] W=H H (HH H ) -1

[0107] Good performance typically relies on channel orthogonality. However, in satellite-to-ground scenarios, this orthogonality often doesn't exist. Instead, users tend to cluster around hotspots, causing the channel (particularly the line-of-sight (LOS) component) to exhibit clustering characteristics. Furthermore, the correlation between LOS components fluctuates with differences in direction of arrival (DOA), meaning that even distant users can have highly correlated channels. Therefore, this embodiment employs user clustering for grouping.

[0108] It is understood that a user cluster set is a set obtained by clustering user devices. Each cluster can be considered a user group, and the cluster centroid of the user cluster set is the center point of the user location. In specific implementations, user device locations are typically clustered to obtain corresponding user cluster sets.

[0109] Step S50: Using the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0110] It should be noted that the central coverage position refers to the center point position of the service beam (third-level beam). In this embodiment, the cluster centroid of the user cluster set is used as the central coverage position of the third-level beam.

[0111] It can be understood that the clustering algorithm is used to perform beam hopping grouping on the scheduled users, and the center points of the grouped users are obtained to complete the beam hopping scheduling.

[0112] In the specific implementation, the beam resource area is divided into first-level beams, second-level beams and third-level beams, which are respectively responsible for the broadcast process, user access process and business process, and complete the group-based beam hopping scheduling, which can realize fast user grouping and multi-user scheduling within the beam.

[0113] This embodiment provides a low-orbit satellite beam scheduling and user grouping method. The method hierarchically processes the beam resources of a low-orbit satellite to obtain first-level beams, second-level beams, and third-level beams. Based on the first-level beam, existing signaling beam positions are scanned to determine the target signaling beam position of a user device. Based on the second-level beam, random access is performed on the target signaling beam position to determine the location of the user device corresponding to the target signaling beam position. Based on the third-level beam, the user device locations are clustered to determine a set of user clusters and their cluster centroids. The cluster centroids of the user clusters are used as the central coverage location of the third-level beam to complete beam-hopping scheduling. Satellite beam resources are hierarchically processed, with different hierarchical beams used for broadcast, access, and service processes. The satellite side performs user grouping based on a clustering algorithm, determines the center point location of the service beam, and finally completes beam-hopping scheduling. This method enables multi-beam, multi-user scheduling, reduces user access latency, ensures resource utilization efficiency, reduces interference, and improves throughput.

[0114] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 6 , step S40 may include steps S401 to S404:

[0115] Step S401: Based on the third-level beam, select the corresponding initial cluster centroid according to the number of clusters at the location of the user equipment;

[0116] It should be noted that this embodiment clusters user devices based on channel correlation, which is directly related to the distance between users. Therefore, the spatial distance between users is used as the clustering metric, so that users in the same cluster have higher correlation, while users in different clusters have lower correlation. The distance between the kth user device and the gth cluster set is defined as:

[0117]

[0118] Where x k ,y k ,z krepresents the location coordinates of user equipment k, Represents the coordinates of the cluster centroid of the user cluster set g.

[0119] It is understandable that according to the metric d kg UEs can be divided into G (G ≤ L) clusters, and the centroid of each cluster is determined. Since service beams use a beam-hopping scheme and are fully frequency-reused, beams in the same time slot need to be spatially isolated to reduce inter-beam interference. It can be assumed that the minimum required distance between two beams is D (the shortest distance between beams).

[0120] In a feasible embodiment, step S401 may include: randomly selecting the first initial cluster centroid from the position of the user device; determining the farthest position from the position of the user device based on the distance between the position of the user device and the selected initial cluster centroid, and using the farthest position as the next initial cluster centroid; obtaining the number of selected initial cluster centroids; when the selected number is greater than or equal to the number of cluster groups, executing the steps of determining the nearest cluster centroid of the user device based on the distance between the position of the user device and the initial cluster centroid, and dividing the position of the user device into the user cluster set corresponding to the nearest cluster centroid.

[0121] It should be noted that the initial cluster centroid is the centroid of the initially selected user cluster set, and further adjustments are required to obtain the final centroid. The number of clusters is the number of user cluster sets that can be formed in advance.

[0122] It can be understood that according to the set of UEs that need to be accessed determined by the second-level beam, assuming that the set of UEs to be grouped is Ψ={1,2,…,U}, the number of clusters G is set, the preset update threshold δ is initialized, and the cluster centroid is initialized. A UE is randomly selected and its location is used as the initial cluster centroid of the first cluster set, assuming that For all UEs, calculate the square of their distance to the nearest centroid and accumulate all the results as follows:

[0123]

[0124] Where x k ,y k ,z k represents the location coordinates of user equipment k, It represents the coordinates of the first selected initial cluster centroid, and U represents the number of UEs.

[0125] It should be understood that the UE position farthest from the selected initial cluster centroid is selected as the next initial cluster centroid, and then the square cumulative value of the distance between the UE and the nearest centroid is recalculated, and the next initial cluster centroid is selected until G centroids are selected, and the distance between any two initial cluster centroids is greater than or equal to D (the shortest distance between beams). Thus, the set of initial cluster centroids is obtained.

[0126] Step S402: determining the nearest cluster centroid of the user equipment based on the distance between the location of the user equipment and the initial cluster centroid, and dividing the location of the user equipment into a user cluster set corresponding to the nearest cluster centroid;

[0127] It should be noted that the nearest cluster centroid is the cluster centroid closest to the user device. kg , find the shortest distance g between each user device and the initial cluster centroid k =arg min g d kg , the corresponding cluster centroid is the nearest cluster centroid, and each user device is assigned to the cluster set of the nearest cluster centroid, so the g-th user cluster set is

[0128] Step S403: updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set;

[0129] It is understandable that for each user cluster set A new cluster centroid needs to be calculated so that all user devices in the same user cluster set have a similar “distance” to the cluster centroid.

[0130] In a feasible implementation, step S403 may include: obtaining the initial cluster centroid, the correspondence between the position of the user device and the cluster centroid; and determining the cluster centroid of the user cluster set based on the position of the user device in the user cluster set, the initial cluster centroid of the user cluster set and the correspondence.

[0131] It should be noted that the cluster centroid is the final centroid, which is obtained by updating the initial cluster centroid. The correspondence between the initial cluster centroid, the location of the user device, and the cluster centroid is the calculation relationship for calculating the cluster centroid, which is also the calculation relationship for updating the initial cluster centroid, as shown below:

[0132]

[0133] Where, represents the user cluster set, represents the cluster centroid, Represents the coordinates of the cluster centroid of the user cluster set g.

[0134] It can be understood that the cluster centroid of each user cluster set is determined by substituting relevant data into the above calculation formula.

[0135] Furthermore, the calculated cluster centroids need to be verified. After step S403, the process also includes: determining an updated centroid difference of the user cluster set based on the cluster centroids of the user cluster set and the initial cluster centroid; determining a centroid distance between the user cluster sets based on the cluster centroids of the user cluster sets; and determining that the cluster centroid verification of the user cluster set has passed when the updated centroid difference of the user cluster set is less than or equal to a preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, and executing the step of deleting invalid locations in the user cluster set.

[0136] It should be noted that the centroid update difference is the difference between the cluster centroid of each user cluster set and the initial cluster centroid. The calculation relationship is as follows:

[0137]

[0138] Where μ represents the updated difference of the centroid, represents the cluster centroid of the user cluster set g, and represents the initial cluster centroid of the user cluster set g.

[0139] In addition, it should be noted that the centroid distance is the distance between the cluster centroids of two user cluster sets, and the calculation relationship is as follows:

[0140]

[0141] Where, represents the centroid distance, represents the cluster centroid of the user cluster set g1, Represents the cluster centroid of the user cluster set g2.

[0142] It can be understood that the final cluster centroid needs to meet the following requirements: the centroid update difference is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, that is, ν≥D, and μ≤δ. If so, the verification passes and step S404 is continued. If not, the verification fails and the process returns to step S402 to redetermine the cluster centroid.

[0143] Step S404: deleting invalid positions in the user cluster set, where the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

[0144] It should be noted that the invalid position refers to the data that needs to be deleted from the user cluster set. This embodiment calculates the distance between each user device in the user cluster set and the cluster centroid. If the distance is greater than D / 2 (half of the shortest distance between beams), it is deleted. If the distance is less than or equal to D / 2, it is retained, thereby determining the final user cluster set and the cluster centroid of each user cluster set.

[0145] This embodiment provides a low-orbit satellite beam scheduling and user grouping method. Based on the third-level beam, the corresponding initial cluster centroid is selected at the location of the user device according to the number of cluster families; based on the distance between the location of the user device and the initial cluster centroid, the nearest cluster centroid of the user device is determined, and the location of the user device is divided into the user cluster set corresponding to the nearest cluster centroid; the initial cluster centroid of the user cluster set is updated to obtain the cluster centroid of the user cluster set; invalid positions in the user cluster set are deleted, and the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams. Satellite beam resources are processed in a hierarchical manner, and different hierarchical beams are used for the broadcast process, access process, and service process respectively. The satellite side performs user grouping based on a clustering algorithm, determines the center point position of the service beam, and finally completes beam hopping scheduling. This can achieve multi-beam multi-user scheduling, reduce user access waiting time, ensure resource utilization efficiency, reduce interference, and improve throughput.

[0146] For example, in order to help understand the implementation process of the low-orbit satellite beam scheduling and user grouping method obtained by combining this embodiment with the above embodiments, please refer to Figure 7 , Figure 7 A brief flowchart of a low-orbit satellite beam scheduling and user grouping method is provided. Specifically:

[0147] The first-level beam performs SSB beam scanning, polls the signaling beam position in the satellite coverage area, and is also responsible for receiving MSG1 in the current area. It also determines the signaling beam position of the current UE through the PRACH time-frequency position. The second-level beam adopts a beam hopping design and is responsible for transmitting and receiving MSG2 to MSG4 for the signaling beam set determined by the first-level beam, completing CSI-RS measurement, and ultimately determining the final location of the UE with access requirements. At this time, the UE enters the RRC connected state. For all UEs in the RRC connected state, fast user grouping is performed in the third-level beam to ultimately determine the service beam center coverage position, realizing multi-beam multi-user scheduling, reducing system interference, and improving throughput.

[0148] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the low-orbit satellite beam scheduling and user grouping method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0149] This application also provides a low-orbit satellite beam scheduling and user grouping device, please refer to Figure 8 , the low-orbit satellite beam scheduling and user grouping device includes:

[0150] The beam scheduling module 10 is used to hierarchically process the beam resources of the low-orbit satellite to obtain a first-level beam, a second-level beam, and a third-level beam;

[0151] The beam scheduling module 10 is further configured to scan the existing signaling beam positions based on the first-level beam to determine the target signaling beam position of the user equipment;

[0152] The beam scheduling module 10 is further configured to perform random access to the target signaling beam based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam;

[0153] A user grouping module 20 is configured to cluster the positions of the user equipment based on the third-level beam, and determine a user cluster set and a cluster centroid of the user cluster set;

[0154] The beam scheduling module 10 is further configured to use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

[0155] In a feasible implementation manner, the beam scheduling module 10 is further configured to sort the target signaling beam positions based on the random access timing of the target signaling beam positions and the number of device accesses, and determine a beam position sorting result;

[0156] Based on the wave position sorting result, determining the lighting order and lighting duration of the target signaling wave position;

[0157] Based on the second-level beam, lighting up the corresponding target signaling beam position according to the lighting order and the lighting duration;

[0158] Based on the second-level beam, random access is performed on the lit target signaling beam position to enable the corresponding user equipment to enter a preset connection state and obtain the position of the user equipment.

[0159] In a feasible implementation manner, the user grouping module 20 is further configured to select corresponding initial cluster centroids according to the number of cluster groups at the location of the user equipment based on the third-level beam;

[0160] Determine a nearest cluster centroid of the user equipment based on a distance between the location of the user equipment and the initial cluster centroid, and divide the location of the user equipment into a user cluster set corresponding to the nearest cluster centroid;

[0161] Updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set;

[0162] Invalid positions in the user cluster set are deleted, where the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

[0163] In a feasible implementation manner, the user grouping module 20 is further configured to randomly select a first initial cluster centroid from the location of the user equipment;

[0164] Determine a farthest position among the positions of the user equipment based on a distance between the position of the user equipment and the selected initial cluster centroid, and use the farthest position as the next initial cluster centroid;

[0165] Get the selected number of initial cluster centroids;

[0166] When the selected number is greater than or equal to the number of cluster families, the steps of determining the nearest cluster centroid of the user device based on the distance between the location of the user device and the initial cluster centroid and dividing the location of the user device into the user cluster set corresponding to the nearest cluster centroid are performed.

[0167] In a feasible implementation manner, the user grouping module 20 is further configured to obtain a correspondence between the initial cluster centroid, the location of the user device, and the cluster centroid;

[0168] The cluster centroid of the user cluster set is determined based on the position of the user equipment in the user cluster set, the initial cluster centroid of the user cluster set, and the corresponding relationship.

[0169] In a feasible implementation manner, the user grouping module 20 is further configured to determine an updated difference in centroid of the user cluster set based on the cluster centroid of the user cluster set and the initial cluster centroid;

[0170] Determining a centroid distance between the user cluster sets based on the cluster centroids of the user cluster sets;

[0171] When the centroid update difference of the user cluster set is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, it is determined that the cluster centroid test of the user cluster set passes, and the step of deleting invalid positions in the user cluster set is executed.

[0172] In a feasible implementation manner, the beam scheduling module 10 is further configured to scan the existing signaling beam position based on the first-level beam to determine the target signaling beam position direction for receiving the random access information sent by the user equipment;

[0173] Based on the target signaling beam position direction, a target signaling beam position of the user equipment is determined.

[0174] The low-orbit satellite beam scheduling and user grouping device provided in this application, which adopts the low-orbit satellite beam scheduling and user grouping method in the above-mentioned embodiment, can solve the technical problem of low efficiency of beam scheduling and user grouping in scenarios where low-orbit satellite payloads provide wide-area coverage. Compared with the existing technology, the beneficial effects of the low-orbit satellite beam scheduling and user grouping device provided in this application are the same as the beneficial effects of the low-orbit satellite beam scheduling and user grouping method provided in the above-mentioned embodiment, and the other technical features of the low-orbit satellite beam scheduling and user grouping device are the same as the features disclosed in the above-mentioned embodiment method, and are not further described here.

[0175] The present application provides a low-orbit satellite beam scheduling and user grouping device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the low-orbit satellite beam scheduling and user grouping method in the above-mentioned embodiment one.

[0176] Reference below Figure 9 , which shows a schematic structural diagram of a low-orbit satellite beam scheduling and user grouping device suitable for implementing an embodiment of the present application. The low-orbit satellite beam scheduling and user grouping device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 9 The low-orbit satellite beam scheduling and user grouping device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0177] like Figure 9As shown, the low-orbit satellite beam scheduling and user grouping device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the low-orbit satellite beam scheduling and user grouping device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, hard disk, etc.; and communication devices 1009. The communication devices 1009 can allow the low-orbit satellite beam scheduling and user grouping device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a low-orbit satellite beam scheduling and user grouping device with various systems, it should be understood that implementation or presence of all the illustrated systems is not required. More or fewer systems may alternatively be implemented or present.

[0178] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0179] The low-orbit satellite beam scheduling and user grouping device provided in this application adopts the low-orbit satellite beam scheduling and user grouping method in the above-mentioned embodiment, which can solve the technical problem of low efficiency of beam scheduling and user grouping in scenarios where low-orbit satellite payloads provide wide-area coverage. Compared with the existing technology, the beneficial effects of the low-orbit satellite beam scheduling and user grouping device provided in this application are the same as the beneficial effects of the low-orbit satellite beam scheduling and user grouping method provided in the above-mentioned embodiment, and the other technical features of the low-orbit satellite beam scheduling and user grouping device are the same as those disclosed in the method of the previous embodiment, and are not further described here.

[0180] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0181] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0182] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer program) stored thereon, and the computer-readable program instructions are used to execute the low-orbit satellite beam scheduling and user grouping method in the above-mentioned embodiment.

[0183] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0184] The above-mentioned computer-readable storage medium may be included in the low-orbit satellite beam scheduling and user grouping device; or it may exist independently without being assembled into the low-orbit satellite beam scheduling and user grouping device.

[0185] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the low-orbit satellite beam scheduling and user grouping device, the low-orbit satellite beam scheduling and user grouping device enables the low-orbit satellite beam scheduling and user grouping device to: perform hierarchical processing on the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam and the third-level beam; scan the existing signaling wave position based on the first-level beam to determine the target signaling wave position of the user equipment; randomly access the target signaling wave position based on the second-level beam to determine the position of the user equipment corresponding to the target signaling wave position; cluster the position of the user equipment based on the third-level beam to determine the user cluster set and the cluster centroid of the user cluster set; use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete the beam hopping scheduling.

[0186] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0187] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0188] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0189] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned low-orbit satellite beam scheduling and user grouping method. This computer-readable storage medium can address the technical issue of low beam scheduling and user grouping efficiency in scenarios where low-orbit satellite payloads provide wide-area coverage. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the low-orbit satellite beam scheduling and user grouping method provided in the aforementioned embodiments, and are not further elaborated here.

[0190] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned low-orbit satellite beam scheduling and user grouping method.

[0191] The computer program product provided in this application can address the technical issues of low efficiency in beam scheduling and user grouping in scenarios where low-orbit satellite payloads provide wide-area coverage. Compared to the prior art, the computer program product provided in this application offers the same beneficial effects as the methods for beam scheduling and user grouping in low-orbit satellites provided in the aforementioned embodiments, and will not be further elaborated here.

[0192] The above are only some embodiments of the present application and are not intended to limit the patent scope of the present application. All equivalent structural transformations made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A low-orbit satellite beam scheduling and user grouping method, characterized in that: The method comprises: The beam resources of the low-orbit satellite are processed hierarchically to obtain the first-level beam, the second-level beam and the third-level beam; Scanning the existing signaling beam positions based on the first-level beam to determine the target signaling beam position of the user equipment; Performing random access to the target signaling beam based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam; Clustering the positions of the user equipment based on the third-level beam, and determining a user cluster set and a cluster centroid of the user cluster set; The cluster centroid of the user cluster set is used as the central coverage position of the third-level beam to complete beam hopping scheduling.

2. The method according to claim 1, wherein The step of randomly accessing the target signaling beam position based on the second-level beam and determining a position of the user equipment corresponding to the target signaling beam position includes: Sorting the target signaling wave positions based on the random access timing and the number of device accesses of the target signaling wave positions to determine a wave position sorting result; Based on the wave position sorting result, determining the lighting order and lighting duration of the target signaling wave position; Based on the second-level beam, lighting up the corresponding target signaling beam position according to the lighting order and the lighting duration; Based on the second-level beam, random access is performed on the lit target signaling beam position to enable the corresponding user equipment to enter a preset connection state and obtain the position of the user equipment.

3. The method according to claim 1, wherein The step of clustering the positions of the user equipment based on the third-level beam and determining a user cluster set and a cluster centroid of the user cluster set includes: Based on the third-level beam, selecting a corresponding initial cluster centroid according to the number of clusters at the location of the user equipment; Determine a nearest cluster centroid of the user equipment based on a distance between the location of the user equipment and the initial cluster centroid, and divide the location of the user equipment into a user cluster set corresponding to the nearest cluster centroid; Updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set; Invalid positions in the user cluster set are deleted, where the distance between the invalid position and the corresponding cluster centroid is greater than half of the shortest distance between beams.

4. The method according to claim 3, wherein The step of selecting the corresponding initial cluster centroid according to the number of clusters at the location of the user equipment includes: Randomly selecting a first initial cluster centroid at the location of the user equipment; Determine a farthest position among the positions of the user equipment based on a distance between the position of the user equipment and the selected initial cluster centroid, and use the farthest position as the next initial cluster centroid; Get the selected number of initial cluster centroids; When the selected number is greater than or equal to the number of cluster families, the steps of determining the nearest cluster centroid of the user device based on the distance between the location of the user device and the initial cluster centroid and dividing the location of the user device into the user cluster set corresponding to the nearest cluster centroid are performed.

5. The method according to claim 3, wherein The step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set includes: Obtaining the correspondence between the initial cluster centroid, the location of the user device and the cluster centroid; The cluster centroid of the user cluster set is determined based on the position of the user equipment in the user cluster set, the initial cluster centroid of the user cluster set, and the corresponding relationship.

6. The method according to claim 3, wherein After the step of updating the initial cluster centroid of the user cluster set to obtain the cluster centroid of the user cluster set, the method further includes: Determining an updated centroid difference of the user cluster set based on the cluster centroid of the user cluster set and the initial cluster centroid; Determining a centroid distance between the user cluster sets based on the cluster centroids of the user cluster sets; When the centroid update difference of the user cluster set is less than or equal to the preset update threshold and the centroid distance between the user cluster sets is greater than or equal to the shortest distance between beams, it is determined that the cluster centroid test of the user cluster set passes, and the step of deleting invalid positions in the user cluster set is executed.

7. The method according to any one of claims 1 to 6, characterized in that The step of scanning the existing signaling beam position based on the first-level beam to determine the target signaling beam position of the user equipment includes: Scanning the existing signaling beam position based on the first-level beam, determining the target signaling beam position direction for receiving the random access information sent by the user equipment; Based on the target signaling beam position direction, a target signaling beam position of the user equipment is determined.

8. A low-orbit satellite beam scheduling and user grouping device, characterized in that: The device comprises: The beam scheduling module is used to hierarchically process the beam resources of the low-orbit satellite to obtain the first-level beam, the second-level beam, and the third-level beam; The beam scheduling module is further configured to scan the existing signaling beam positions based on the first-level beam to determine the target signaling beam position of the user equipment; The beam scheduling module is further configured to perform random access to the target signaling beam based on the second-level beam to determine a position of a user equipment corresponding to the target signaling beam; A user grouping module, configured to cluster the positions of the user equipment based on the third-level beam, and determine a user cluster set and a cluster centroid of the user cluster set; The beam scheduling module is further configured to use the cluster centroid of the user cluster set as the central coverage position of the third-level beam to complete beam hopping scheduling.

9. A low-orbit satellite beam scheduling and user grouping device, characterized in that: The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the low-orbit satellite beam scheduling and user grouping method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the low-orbit satellite beam scheduling and user grouping method according to any one of claims 1 to 7 are implemented.

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