Multi-level primary satellite selection method in large-scale constellation communication and cooperative coupling scene

Abstract

The invention provides a multistage primary satellite selection method and system in a large-scale constellation communication and cooperative coupling scene, and the method comprises the steps: solving the distance between the position of a primary satellite in a region and a target position and the minimum value of the distance for the position of the primary satellite in the known N-point region in a cooperative observation task process, and determining a task primary satellite; on the basis of the determined task main satellite, any satellite with the minimum communication hop count with the task main satellite is selected in the corresponding task area to serve as an area main satellite; and based on the selected regional main satellite and an observation resource pair allocation set involved in a related task region in the collaborative observation task planning scheme, selecting any satellite with the minimum communication hop count sum with the regional main satellite in the allocation set as a collaborative observation data fusion main satellite, and completing multi-stage main satellite selection. According to the method, the primary satellite selection efficiency in a normal mode and a task mode in a large-scale constellation for the collaborative observation task can be effectively improved, and the total hop count of task-related satellite communication is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of aerospace, multi-satellite coordination and inter-satellite communication strategy, and in particular to a multi-level master satellite selection method in a large-scale constellation communication and coordinated coupling scenario, and also to a corresponding multi-level master satellite selection system, a computer terminal and a computer-readable storage medium. Background Art

[0002] In large-scale constellations for collaborative observation tasks, in order to balance the complexity of communication tasks and collaborative planning, a multi-layer grouping logic architecture is used to logically layer the satellites in the observation system. During the collaborative observation task, different types of information will be transmitted within or between logical layers. In dynamic mission scenarios, in order to improve the efficiency of information transmission, a dynamic logical grouping strategy that adapts to the information interaction characteristics during the collaborative observation task is needed.

[0003] At the same time, in large-scale constellation collaborative observation tasks, the task planning system needs to use the relevant satellite status information, location information, etc. in the constellation as input when making decisions and allocating resources. In order to maintain a timely response to the target task, such relevant basic information will be transmitted at a fixed frequency in the intersatellite link. Secondly, due to the characteristics of the observation task, an effective observation task usually requires multiple observation resources to work simultaneously. In this process, the measurement data between different observation resources need to be transmitted through the intersatellite link. In addition, in view of the uncertain motion characteristics and wide-area distribution characteristics of the target to be observed, the observation task usually needs to be handed over between multiple groups of different resources in the observation system. Task handover related information also needs to be transmitted through the intersatellite link. At the same time, the targets faced by large-scale constellation collaborative observation tasks usually have strong time-sensitive characteristics, and the tasks are highly sensitive to information delays. Therefore, in view of the above task characteristics, large-scale constellations for collaborative observation tasks need to build an efficient communication mode and strategy.

[0004] In mission mode, communication resources of mission-related satellites are prioritized in large-scale constellations. Therefore, it is necessary to consider improving the transmission efficiency of various types of information in mission mode. In the multi-level logical hierarchical structure mode, the selection of mission master satellites, regional master satellites and collaborative fusion master satellites will affect the complexity of communication and the redundancy of information interaction. During the mission, due to the target distribution characteristics, the amount of information interaction between various regions of the entire network at the same time will show local burst characteristics. In order to reduce the complexity of satellite communications related to mission execution, it is necessary to dynamically select the mission master satellite, regional master satellite, and collaborative observation data fusion master satellite according to the target distribution characteristics and mission planning scheme during the mission execution.

[0005] At present, no description or report of similar technology to the present invention has been found, and similar information at home and abroad has not been collected. Summary of the invention

[0006] In view of the above-mentioned deficiencies in the prior art, the present invention provides a multi-level primary satellite selection method in a large-scale constellation communication and cooperative coupling scenario, and also provides a corresponding multi-level primary satellite selection system, a computer terminal and a computer-readable storage medium, aiming to realize the multi-level primary satellite selection in the context of a large-scale constellation cooperative tracking and observation mission of near-space hypersonic aircraft.

[0007] According to one aspect of the present invention, a multi-level primary satellite selection method in a large-scale constellation communication and cooperative coupling scenario is provided, comprising:

[0008] In the collaborative observation mission, for the known N-point regional main satellite position, the distance between the regional main satellite position and the target position and the minimum distance are solved to determine the mission main satellite;

[0009] Based on the determined mission master satellite, any satellite with the smallest number of communication hops with the mission master satellite is selected as the regional master satellite in the corresponding mission area;

[0010] Based on the selected regional primary satellite and the observation resource pair allocation set involved in the relevant mission area in the collaborative observation mission planning scheme, any satellite in the allocation set with the smallest number of communication hops with the regional primary satellite is selected as the collaborative observation data fusion primary satellite to complete the multi-level primary satellite selection.

[0011] According to a second aspect of the present invention, a multi-level primary satellite selection system in a large-scale constellation communication and cooperative coupling scenario is provided, comprising:

[0012] Mission master satellite selection module: This module is used to determine the mission master satellite during the collaborative observation mission. For a known N-point regional master satellite position, the distance between the regional master satellite position and the target position and the minimum distance are solved, and the mission master satellite is determined.

[0013] Regional master satellite selection module: Based on the determined mission master satellite, this module selects any satellite with the smallest number of communication hops with the mission master satellite in the corresponding mission area as the regional master satellite;

[0014] A collaborative observation data fusion master satellite selection module is provided. This module selects any satellite in the allocation set with the minimum number of communication hops with the regional master satellite as the collaborative observation data fusion master satellite based on the selected regional master satellite and the observation resource pair allocation set involved in the relevant task area in the collaborative observation task planning scheme.

[0015] According to a third aspect of the present invention, a computer terminal is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor can be used to execute the method described above in the present invention, or to run the system described above in the present invention when executing the computer program.

[0016] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, it can be used to execute the method described above in the present invention, or to run the system described above in the present invention.

[0017] Due to the adoption of the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0018] The present invention provides a multi-level master satellite selection method in a large-scale constellation communication and collaborative coupling scenario. Through the multi-level master satellite selection method, the time complexity of the task master satellite y-direction selection strategy can be achieved to be O(nlogn), and the time complexity of the x-direction selection strategy can be achieved to be O(n). In a high-timeliness task environment, a multi-level task master satellite with the optimal communication distance can be obtained, thereby improving the efficiency of solving the master satellite selection problem.

[0019] The multi-level primary satellite selection method in the large-scale constellation communication and cooperative coupling scenario provided by the present invention is based on a selection strategy of a deterministic solution, which can effectively reduce the uncertainty caused by existing optimization technologies and improve the stability of primary satellite selection.

[0020] The multi-level master satellite selection method in the scenario of large-scale constellation communication and collaborative coupling provided by the present invention can effectively improve the efficiency of master satellite selection in the normal mode and mission mode within a large-scale constellation for collaborative observation tasks, and reduce the total number of mission-related satellite communication hops. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0022] Figure 1 The present invention is a flowchart of a multi-level primary satellite selection method in a large-scale constellation communication and collaborative coupling scenario in one embodiment of the present invention.

[0023] Figure 2 It is a schematic diagram of the task area in which an observation task is performed in a preferred embodiment of the present invention.

[0024] Figure 3 Schematic diagram of six collaborative observation modes in a preferred embodiment of the present invention.

[0025] Figure 4The figure is a comparison chart of the effects of strategy 1, genetic algorithm and random strategy adopted in a specific application example of the present invention.

[0026] Figure 5 This is a comparison chart of the effects of using random strategy, strategy 1, strategy 1+strategy 2, and strategy 1+strategy 2+strategy 3 in a specific application example of the present invention.

[0027] Figure 6 The figure is a schematic diagram of the components of a multi-level primary satellite selection system in a large-scale constellation communication and cooperative coupling scenario in one embodiment of the present invention. DETAILED DESCRIPTION

[0028] The following is a detailed description of the embodiments of the present invention: This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

[0029] An embodiment of the present invention provides a multi-level primary satellite selection method in a large-scale constellation communication and collaborative coupling scenario. The method is aimed at selecting multi-level primary satellites for large-scale constellation centralized collaborative observation tasks. Through a task primary satellite selection strategy, a regional primary satellite selection strategy, and a collaborative observation data fusion primary satellite selection strategy, the method completes the multi-level primary satellite selection in a multi-layer logical hierarchical structure according to the coupling relationship between large-scale constellation collaborative observation tasks and communication tasks, as well as the communication task requirements in normal mode and mission mode.

[0030] Specifically, Figure 1 As shown, the multi-level primary satellite selection method in the large-scale constellation communication and cooperative coupling scenario provided by this embodiment may include the following operations:

[0031] S1, Mission master satellite selection strategy: In the collaborative observation mission, for the known N-point regional master satellite position, the distance between the regional master satellite position and the target position and the minimum distance are solved to determine the mission master satellite;

[0032] S2, regional primary satellite selection strategy: based on the determined mission primary satellite, any satellite with the smallest number of communication hops with the mission primary satellite is selected as the regional primary satellite in the corresponding mission area;

[0033] S3, collaborative observation data fusion master satellite selection strategy: Based on the selected regional master satellite and the observation resource pair allocation set involved in the relevant task area in the collaborative observation task planning scheme, any satellite in the allocation set with the smallest number of communication hops with the regional master satellite is selected as the collaborative observation data fusion master satellite to complete the multi-level master satellite selection.

[0034] In some preferred implementations, the above S1, in the collaborative observation task process, for a known N-point regional main satellite position, solving the distance between the regional main satellite position and the target position and the minimum distance value, may further include the following operations:

[0035] During the collaborative observation mission, the mission master satellite has a high frequency of information exchange with the regional master satellite of the mission area where the observation mission is performed. Figure 2 In the local area shown, the yellow dots are the regional satellites related to the mission, and the mesh red dots are the original mission satellites. In order to reduce the number of communication hops between the mission satellite and the regional satellites related to the mission, the mission satellite needs to be adjusted according to the mission planning results. Among them:

[0036] The problem of selecting the mission master satellite is essentially to find the distance between the N points and the target location and the minimum distance. In this problem, it can be described as: given the set of N regional master satellite locations {(x 1 ,y 1 ),(x 2 ,y 2 ),...,(x N ,y N )}, solve the mission master satellite position (x*, y*) so that the sum of its communication hops to all regional master satellites is the minimum, then:

[0037]

[0038] In some preferred implementations, the above S1, determining the mission master star, may also include the following operations:

[0039] Solve the distance and minimum value problem of N known points. In continuous space, when N=3 and the distance metric is Euclidean distance, the minimum point is the Fermat point. When N>3, the convex optimization method is usually used for approximate solution. However, in the mission master selection problem, the number of mission-related areas is uncertain, and there are rings in the physical topology of the network. Therefore, the mission master selection problem is not equivalent to the Fermat-Torricelli Problem. Due to the configuration characteristics of large-scale constellations and considering the minimum hop algorithm as the basic routing algorithm, the focus of communication task optimization for collaborative observation tasks is on the total number of hops during information transmission. Therefore, in the mission master selection problem, the problem can be transformed as follows:

[0040] Since the optimization focus is on the total number of hops, the communication resources of the entire network are discretized during the communication process. The coordinates of the closest orbital plane to the prime meridian and the southernmost satellite in the ascending segment of all orbital planes are defined as (1,1), (2,1),..., (P,1) to the east and (2,1),..., (P,1) to the north.

[0041] In the communication task, the communication coordinates poc 1 =(x 1 ,y 1 ),poc 2 (x 2 ,y 2 ) represents the positions of the two satellites. Due to the existence of the ring in the physical topology, the number of communication hops between the two satellites can be expressed as formula (0-3):

[0042] dis m (poc 1 ,poc 2 )=min(|x 1 -x 2 |,||x 1 -x 2 |-N / P)+|y 1 -y 2 | (0-3)

[0043] when When , the total number of communication hops between the two satellites can be measured by the Manhattan distance; when The total number of communication hops between two satellites needs to consider the ring problem. The specific form of formula (0-3) is:

[0044]

[0045] According to the problem conversion distance formula (0-4), it can be seen from the distance formula that the total number of hops of the communication task in the x direction and the y direction are independent of each other. Therefore, the strategy for selecting the mission master satellite can be divided into two parts. The first part first determines the y direction coordinates of the mission master satellite, and the second part determines the x direction coordinates of the mission master satellite.

[0046] Mission primary star y direction selection strategy:

[0047] For the N mission-related regional primary stars, their y-direction coordinates are {y 1 ,y 2 ,...,y N}, because the minimum hop count is used as the routing algorithm, satellites in the same orbital phase can be regarded as having no ring in the y direction in the physical topology. Therefore, the y-direction coordinate of the mission master satellite is y * It is expressed as:

[0048]

[0049] The y-direction coordinate of the mission master star indicates that for the mission master star selection strategy, the optimal value in the y-direction is the median value of the main direction coordinate values ​​of the master star in all mission-related areas. Considering the integer constraint of the coordinate number, when N is an even number, the median value is rounded down as the y-direction coordinate of the mission master star; when N is an odd number, the median value is used as the y-direction coordinate of the mission master star, then:

[0050]

[0051] The median value is the optimal solution for the left half. Similarly, it can be proved that the median value is the optimal solution for the right half.

[0052] Mission primary star x direction selection strategy:

[0053] For N mission-related regional satellites, their x-direction coordinate set X = {x i |i∈{1,2,...,P}}, since there is a ring in the x direction, when x N -x 1 ≤P / 2 When the x-direction coordinate x of the mission master star can be directly determined * It is expressed as:

[0054]

[0055] The proof process is consistent with the y direction.

[0056] When x N -x 1 >P / 2 When , it means that the communication between the main satellite and the mission-related area in the x direction will pass through the ring. Since the on-board algorithm requires high operating efficiency, it is considered to trade space for time complexity and use the distance matrix to reduce the computational time complexity. Specific steps:

[0057] During the collaborative observation task, the entire network maintains the x-direction communication hop matrix M C for:

[0058]

[0059] Among them, the element d in the i-th row and j-th column ij Represents x i to x j The number of communication hops, v i Represents x i Row vector of the number of communication hops to the remaining satellites.

[0060] According to the matrix M C Determine the coordinates of the mission primary star in the x direction:

[0061]

[0062]

[0063] The time complexity of the mission master's y-direction strategy selection is O(nlogn), the time complexity of the x-direction strategy selection is O(n), and the space complexity is O(n 2 ).

[0064] In some preferred implementations, the above S2, based on the determined mission master satellite, selects any satellite with the smallest number of communication hops with the mission master satellite in the corresponding mission area as the regional master satellite, and may further include the following operations:

[0065] S21, under the premise that the mission master satellite is clear, the regional master satellite can select any satellite in the corresponding mission area. The regional master satellite selection problem can be described as: given the mission master satellite position (x m ,y m ), determine the position of the regional main star in the region (x z * ,y z * ), so that the position of the regional main star (x z * ,y z * ) to the mission's primary star position (x m ,y m ) has the smallest number of communication hops. Since the selection of primary satellites in different regions is independent of each other, the multi-region primary satellite selection problem can be decomposed into multiple single-region primary satellite selection problems, where x min ,x max and min ,y max For regional constraints.

[0066]

[0067] In the formula, x i_min ,x i_max The x-direction constraint for the regional primary star selection problem, i_min ,y i_max The y-direction constraint for the regional master star selection problem;

[0068] S22, solving the problem of selecting a regional primary satellite, and obtaining a satellite with the smallest number of communication hops with the mission primary satellite in the corresponding mission area as the regional primary satellite.

[0069] In some preferred implementations, the above S22, solving the regional primary satellite selection problem to obtain the satellite with the smallest number of communication hops with the mission primary satellite in the corresponding mission area as the regional primary satellite, may further include the following operations:

[0070] For N task-related areas, a task-related area set ZS = {zs 1 ,zs 2 ,...,zs N};

[0071] For zs i ∈ZS, calculate the x-direction constraint x i_min ,x i_max , y direction constraint y i_min ,y i_max ;

[0072] For task related areas zs i , the x-direction coordinates of the main star in the relevant area are:

[0073]

[0074] Among them, x * is the x-direction coordinate of the mission primary star, dis c () is the distance between two points in the loop;

[0075] For task related areas zs i , the y-direction coordinates of the main star in the relevant area are:

[0076]

[0077] Among them, y * is the y-direction coordinate of the mission primary star;

[0078] By obtaining the x-direction coordinates and y-direction coordinates of the main satellite of the relevant region, the corresponding satellite is selected as the main satellite of the region.

[0079] In some preferred implementations, the above S3, based on the selected regional master satellite and the observation resource pair allocation set involved in the relevant task area in the collaborative observation task planning scheme, selects any satellite in the allocation set with the smallest number of communication hops with the regional master satellite as the collaborative observation data fusion master satellite, and may further include the following operations:

[0080] After the mission master and regional master are selected, the collaborative observation data fusion master selection strategy needs to select the data fusion master based on the mission planning results. Under the current multi-level hierarchical logical structure of the observation system, collaborative observation methods can be divided into two categories: intra-regional collaboration and cross-regional collaboration, with a total of six methods, including: 1. Collaboration in the same orbital plane in the same region; 2. Collaboration in the same phase in the same region; 3. Collaboration in different phases in the same region; 4. Collaboration in the same phase across regions; 5. Collaboration in different phases across regions; 6. Collaboration in the same orbital plane across regions. Figure 3 shown.

[0081] S31, the collaborative observation data fusion master satellite mainly communicates with the regional master satellite during the mission. During the collaborative observation process, the collaborative slave satellite will send observation data to the fusion master satellite at a fixed frequency, and the fusion master satellite will also send processed target positioning and other related information to the regional master satellite at a fixed frequency. After the regional master satellite is determined, the selection strategy of the collaborative observation data fusion master satellite will affect the number of communication hops within the region. The collaborative observation data fusion master satellite selection problem can be described as: given the position (x, y) of the regional master satellite in a certain area, and the observation resource pair allocation set OPS involved in the relevant area in the mission planning plan, the fusion master satellite in the OPS is determined so that the sum of the communication hops from the fusion master satellite to the regional master satellite is minimized. It can be described as the formula:

[0082]

[0083] in, is the position of the i-th integrated primary star, is the x-direction coordinate of the first and second satellites in the observation resource pair, The y-direction coordinates of the first and second satellites in the observation resource pair;

[0084] S32, solving the problem of selecting a collaborative observation data fusion master star, and obtaining a satellite with the smallest number of communication hops with the regional master star in the allocation set as the collaborative observation data fusion master star.

[0085] In some preferred implementations, the above S32, solving the problem of selecting the collaborative observation data fusion master star, obtaining the satellite with the smallest number of communication hops with the regional master star in the allocation set as the collaborative observation data fusion master star, may further include the following operations:

[0086] For N collaborative observation combinations, construct a collaborative observation combination set O pair ={pair 1 ,pair 2 ,...pair N},in

[0087] For each pair i , determine the collaborative type:

[0088] If pair i For collaboration in the same region, the region to which the observation combination belongs is calculated to obtain the coordinates of the regional main star

[0089] If pair i For the collaborative mode of the same region and orbital plane, the coordinates of the main satellite for collaborative observation data fusion are:

[0090]

[0091] If pair i For the same-region and same-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are:

[0092]

[0093] If pair i For the same-region different-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are:

[0094]

[0095]

[0096] If pair i For cross-regional collaboration, the regions to which different resources belong in the observation combination are calculated separately, and the coordinates of the regional main satellite are obtained respectively. and

[0097] If pair i For the cross-region same-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are:

[0098]

[0099] If pair i For the cross-regional out-of-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are:

[0100]

[0101] If pair i For the cross-regional same-orbital-plane collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are:

[0102]

[0103] The corresponding satellite is selected as the collaborative observation data fusion master star through the obtained collaborative observation data fusion master star coordinates.

[0104] The technical solution provided by the above embodiment of the present invention is further described in detail below in conjunction with a specific application example.

[0105] In this specific application example, the following typical scenario is adopted: each satellite in the large-scale observation system is at an altitude of 1000km, set to a circular orbit with an eccentricity of 0, an orbital inclination of 60°, a constellation configuration of Walker-σ, and parameters of 256 / 16 / 0. Each observation satellite has the ability to establish 4 bidirectional links at the same time, and can maintain a link relationship with the two satellites in front and behind in the same orbital plane and the two satellites in the same phase in the adjacent orbital plane. And according to the analysis of the orbital period characteristics of the observation system, the physical topology of the entire network can remain stable within the orbital period.

[0106] The Monte Carlo simulation results of the master star selection strategy and the genetic algorithm are similar in distribution, and both have good stability. From the interquartile range of the box plot, it can be seen that the total number of hops for a single information update in the entire network obtained by using strategy 1 (task master star selection strategy) and the genetic algorithm is evenly distributed and has a small degree of variation; the upper and lower interquartile ranges of the master star selection method using the random strategy are 6.8 times that of strategy 1 and the genetic algorithm. Figure 4 shown.

[0107] Taking the random strategy as the basic comparison strategy, a total of 100 Monte Carlo experiments were conducted. The simulation results of the total number of hops of cooperative task information transmission communication under different strategy combinations in task mode are as follows: Figure 5 shown.

[0108] In the mission mode, the selection of the mission master satellite, regional master satellite and collaborative observation data fusion master satellite will affect the total number of communication hops. Compared with the full random strategy, the total number of communication hops is reduced in turn by using strategy 1 (mission master satellite selection strategy), using the combination of strategy 1 and strategy 2 (regional master satellite selection strategy) and using all the master satellite selection strategies. From the distribution analysis of the random strategy, strategy 1, and the combination of strategy 1 and strategy 2, the use of the mission master satellite selection strategy and the regional master satellite selection strategy can greatly reduce the dispersion of the total number of communication hops, and the main random factor comes from the randomness of the collaborative master satellite. When the combination strategy of strategy 1 (mission master satellite selection strategy), strategy 2 (regional master satellite selection strategy) and strategy 3 (collaborative observation data fusion master satellite strategy) is used, there is no random factor in the mission-related communication resources, and the total number of hops is a fixed value.

[0109] Based on the same inventive concept, an embodiment of the present invention also provides a multi-level primary satellite selection system in a large-scale constellation communication and cooperative coupling scenario.

[0110] Specifically, Figure 6 As shown, the multi-level primary satellite selection system in the large-scale constellation communication and cooperative coupling scenario provided by this embodiment may include the following modules:

[0111] Mission master satellite selection module: This module is used to determine the mission master satellite during the collaborative observation mission. For the known N-point regional master satellite position, the module calculates the distance between the regional master satellite position and the target position and the minimum distance, and determines the mission master satellite.

[0112] Regional master satellite selection module: Based on the determined mission master satellite, this module selects any satellite with the smallest number of communication hops with the mission master satellite in the corresponding mission area as the regional master satellite;

[0113] The collaborative observation data fusion master satellite selection module selects any satellite in the allocation set with the smallest number of communication hops with the regional master satellite as the collaborative observation data fusion master satellite based on the selected regional master satellite and the observation resource pair allocation set involved in the relevant task area in the collaborative observation task planning scheme.

[0114] It should be noted that the steps in the method provided by the present invention can be implemented by using corresponding modules, devices, units, etc. in the system. Those skilled in the art can refer to the technical solution of the method to realize the composition of the system, that is, the embodiments in the method can be understood as preferred examples for constructing the system, which will not be elaborated here.

[0115] An embodiment of the present invention further provides a computer terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the processor can be used to execute any one of the above methods of the present invention, or to run any one of the above systems of the present invention.

[0116] Optionally, the memory is used to store programs; the memory may include volatile memory (English: volatile memory), such as random access memory (English: random-access memory, abbreviated: RAM), such as static random access memory (English: static random-access memory, abbreviated: SRAM), double data rate synchronous dynamic random access memory (English: Double Data Rate Synchronous Dynamic Random Access Memory, abbreviated: DDR SDRAM), etc.; the memory may also include non-volatile memory (English: non-volatile memory), such as flash memory (English: flash memory). The memory is used to store computer programs (such as applications, functional modules, etc. that implement the above method), computer instructions, etc., and the above computer programs, computer instructions, etc. can be partitioned and stored in one or more memories. And the above computer programs, computer instructions, data, etc. can be called by the processor.

[0117] The processor is used to execute the computer program stored in the memory to implement the various steps of the method or various modules of the system involved in the above embodiments. For details, please refer to the relevant description in the above method and system embodiments.

[0118] The processor and the memory may be independent structures or integrated structures. When the processor and the memory are independent structures, the memory and the processor may be coupled and connected via a bus.

[0119] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it can be used to execute any of the above methods of the present invention, or to run any of the above systems of the present invention.

[0120] Among them, computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general or special-purpose computer. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a user device. Of course, the processor and the storage medium can also be present in a communication device as discrete components.

[0121] The multi-level primary satellite selection method, system, terminal and medium in the large-scale constellation communication and collaborative coupling scenario provided by the above-mentioned embodiments of the present invention can effectively improve the efficiency of primary satellite selection in the normal mode and mission mode within the large-scale constellation for collaborative observation tasks, and reduce the total number of satellite communication hops related to the task.

[0122] All matters not covered in the above embodiments of the present invention are well known in the art.

[0123] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A multi-level primary satellite selection method in a large-scale constellation communication and cooperative coupling scenario, characterized in that: include: In the collaborative observation mission, for the known N-point regional main satellite position, the distance between the regional main satellite position and the target position and the minimum distance are solved to determine the mission main satellite; Based on the determined mission master satellite, any satellite with the smallest number of communication hops with the mission master satellite is selected as the regional master satellite in the corresponding mission area; Based on the selected regional master star and the observation resource pair allocation set involved in the relevant task area in the collaborative observation task planning scheme, any satellite in the allocation set with the smallest number of communication hops with the regional master star is selected as the collaborative observation data fusion master star to complete the multi-level master star selection.

2. The multi-level primary satellite selection method in the scenario of large-scale constellation communication and cooperative coupling according to claim 1 is characterized in that: The method of solving the distance between the regional main satellite position and the target position and the minimum distance value for the known N-point regional main satellite position includes: The mission master star selection problem is constructed. The mission master star selection problem is to solve the distance between the N point positions and the target position and the minimum distance problem. The problem is described as: given the N regional master star position set {(x1,y1),(x2,y2),...,(x N ,y N )}, solve the mission primary star position (x * ,y * ) makes the total number of communication hops to all regional master satellites the smallest, then:

3. The multi-level primary satellite selection method in the scenario of large-scale constellation communication and cooperative coupling according to claim 2 is characterized in that: The step of determining the mission primary star comprises: Taking the total number of hops in the information transmission process in the communication task for the collaborative observation task as the optimization target, the problem of selecting the mission master satellite is transformed as follows: During the communication process, the communication resources of the entire network are discretized. The coordinates of the closest orbital plane to the prime meridian and the southernmost satellite in the ascending segment of all orbital planes are defined as (1,1), (2,1),..., (P,1) to the east and (1,1), (1,2),..., (P,1) to the north. In the communication task, the communication coordinates poc1 = (x1, y1) and poc2 (x2, y2) represent the positions of the two satellites. Due to the existence of the ring in the physical topology, the number of communication hops between the two satellites is expressed as: dis m (poc1,poc2)=min(|x1-x2|,||x1-x2|-N / P|)+|y1-y2| (0-1) when When , the total number of communication hops between the two satellites is measured by Manhattan distance; when The total number of communication hops between two satellites needs to consider the ring problem, and the formula (0-3) is converted into: According to the problem conversion distance formula (0-4), it can be seen that the total number of hops of the communication task in the x direction and the y direction are independent of each other. Therefore, the strategy for selecting the mission master satellite is divided into the following two parts: the first part is to determine the y-direction coordinates of the mission master satellite, and the second part is to determine the x-direction coordinates of the mission master satellite; where: For the N mission-related regional primary stars, their y-direction coordinates are {y1,y2,...,y N }, since the minimum hop count is used as the routing algorithm, satellites in the same orbital phase can be regarded as having no ring in the y direction in the physical topology structure, so the y-direction coordinate of the mission master satellite is y * It is expressed as: The y-direction coordinate of the mission master star indicates that for the mission master star selection strategy, the optimal value in the y-direction is the median value of the main direction coordinate values ​​of the master star in all mission-related areas; considering the integer constraint of the coordinate number, when N is an even number, the median value is rounded down as the y-direction coordinate of the mission master star; when N is an odd number, the median value is used as the y-direction coordinate of the mission master star, then: For N mission-related regional satellites, their x-direction coordinate set X = {x i |i∈{1,2,...,P}}, since there is a ring in the x direction, when x N When -x1≤P / 2, the x-direction coordinate x of the mission master star can be directly determined * It is expressed as: When x N When -x1>P / 2, it means that the communication between the main satellite and the mission-related area in the x direction will pass through the ring; since the on-board algorithm requires high operating efficiency, we consider exchanging space for time complexity and use the distance matrix to reduce the computational time complexity, then: During the collaborative observation task, the entire network maintains the x-direction communication hop matrix M C for: Among them, the element d in the i-th row and j-th column ij Represents x i to x j The number of communication hops, v i Represents x i The row vector of the number of communication hops to the remaining satellites; According to the matrix M C Determine the coordinates of the mission primary star in the x direction: The time complexity of the mission master's y-direction strategy selection is O(nlogn), the time complexity of the x-direction strategy selection is O(n), and the space complexity is O(n 2 ).

4. The multi-level primary satellite selection method in the scenario of large-scale constellation communication and cooperative coupling according to claim 1 is characterized in that: The method of selecting, based on the determined mission primary satellite, any satellite with the smallest number of communication hops with the mission primary satellite in the corresponding mission area as the regional primary satellite includes: Construct the regional primary star selection problem, which is described as: given the mission primary star position (x m ,y m ), determine the position of the regional main star in the region (x z * ,y z * ), so that the position of the regional main star (x z * ,y z * ) to the mission's primary star position (x m ,y m ) has the smallest number of communication hops; decompose the multi-region master satellite selection problem into multiple single-region master satellite selection problems, where x min ,x max and min ,y max is a region constraint, then: In the formula, x i_min, x i_max The x-direction constraint for the regional primary star selection problem, i_min, y i_max The y-direction constraint for the regional master star selection problem; The regional master satellite selection problem is solved to obtain a satellite with the smallest number of communication hops with the mission master satellite in the corresponding mission area as the regional master satellite.

5. The multi-level primary satellite selection method in the scenario of large-scale constellation communication and cooperative coupling according to claim 4 is characterized in that: The problem of selecting the regional primary satellite is solved to obtain a satellite with the smallest number of communication hops with the mission primary satellite in the corresponding mission area as the regional primary satellite, including: Construct a task-related region set ZS = {zs1, zs2, ..., zs N }; For zs i ∈ZS, respectively calculate the x-direction constraint x of the regional primary star selection problem i_min, x i_max and y direction constraint y i_min, y i_max ; For task related areas zs i , the x-direction coordinates of the main star in the relevant area are: Among them, x * is the x-direction coordinate of the mission primary star, dis c () is the distance between two points in the loop; For task related areas zs i , the y-direction coordinates of the main star in the relevant area are: Among them, y * is the y-direction coordinate of the mission primary star; By obtaining the x-direction coordinates and y-direction coordinates of the main satellite of the relevant region, the corresponding satellite is selected as the main satellite of the region.

6. The multi-level primary satellite selection method in the scenario of large-scale constellation communication and cooperative coupling according to claim 1 is characterized in that: The method comprises: selecting any satellite in the allocation set having the smallest number of communication hops with the regional main satellite and the minimum number of communication hops with the regional main satellite as the collaborative observation data fusion main satellite based on the selected regional main satellite and the observation resource pair allocation set involved in the relevant task area in the collaborative observation task planning scheme, and comprising: The collaborative observation data fusion master satellite selection problem is constructed. The problem is described as follows: given the location (x, y) of the regional master satellite in a certain area and the set of observation resource pairs allocated to the relevant area in the mission planning scheme, determine the fusion master satellite in OPS so that the number of communication hops from the fusion master satellite to the regional master satellite is minimized. Then: in, is the position of the i-th integrated primary star, is the x-direction coordinate of the first and second satellites in the observation resource pair, The y-direction coordinates of the first and second satellites in the observation resource pair; The collaborative observation data fusion master satellite selection problem is solved, and the satellite with the smallest number of communication hops with the regional master satellite in the allocation set is obtained as the collaborative observation data fusion master satellite.

7. The multi-level primary satellite selection method in the scenario of large-scale constellation communication and cooperative coupling according to claim 6 is characterized in that: The method of solving the collaborative observation data fusion master satellite selection problem to obtain a satellite with the smallest number of communication hops with the regional master satellite in the allocation set as the collaborative observation data fusion master satellite includes: For N collaborative observation combinations, construct a collaborative observation combination set O pair ={pair1,pair2,...pair N },in For each pair i , determine the collaborative type: If pair i For collaboration in the same region, the region to which the observation combination belongs is calculated to obtain the coordinates of the regional main star If pair i For the collaborative mode of the same region and orbital plane, the coordinates of the main satellite for collaborative observation data fusion are: If pair i For the same-region and same-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are: If pair i For the same-region different-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are: If pair i For cross-regional collaboration, the regions to which different resources belong in the observation combination are calculated separately, and the coordinates of the regional main satellite are obtained respectively. and If pair i For the cross-region same-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are: If pair i For the cross-regional out-of-phase collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are: If pair i For the cross-regional same-orbital-plane collaborative mode, the coordinates of the main satellite for collaborative observation data fusion are: The corresponding satellite is selected as the collaborative observation data fusion master star through the obtained collaborative observation data fusion master star coordinates.

8. A multi-level primary satellite selection system in a large-scale constellation communication and cooperative coupling scenario, characterized in that: include: Mission master satellite selection module: This module is used to determine the mission master satellite during the collaborative observation mission. For the known N-point regional master satellite position, the module calculates the distance between the regional master satellite position and the target position and the minimum distance, and determines the mission master satellite. Regional master satellite selection module: Based on the determined mission master satellite, this module selects any satellite with the smallest number of communication hops with the mission master satellite in the corresponding mission area as the regional master satellite; A collaborative observation data fusion master satellite selection module is provided. This module is based on the selected regional master satellite and the observation resource pair allocation set involved in the relevant task area in the collaborative observation task planning scheme. Any satellite in the allocation set with the smallest number of communication hops with the regional master satellite is selected as the collaborative observation data fusion master satellite.

9. A computer terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it can be used to perform the method described in any one of claims 1 to 7, or to run the system described in claim 8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it can be used to perform the method described in any one of claims 1 to 7, or to run the system described in claim 8.

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