Inter-domain autonomous link establishment planning method for large-scale satellite network

Abstract

The invention discloses an inter-domain autonomous link establishment planning method for a large-scale satellite network, and the overall idea of the method is as follows: a ground controller divides domains for a constellation according to a constellation function, assigns a domain controller for each domain, and carries out the initial configuration of a domain number, a domain boundary node, a neighborhood domain number and the like for each domain; the domain controller collects the inter-satellite antenna terminal use state, node orbit information and the like of the domain boundary node, and sends the information to the high-priority neighborhood domain controller; each domain controller generates an inter-domain link establishment planning table in a future period through orbit extrapolation, visibility calculation and link establishment planning according to the domain boundary node inter-satellite antenna terminal use state and node orbit information of the domain controller and the low-priority neighborhood, sends the inter-domain link establishment planning table to the low-priority neighborhood domain controller, and sends the inter-domain link establishment planning table to the low-priority neighborhood domain controller after table validity verification. And controlling the related inter-satellite antenna terminal to rotate and establish a link, and finally completing inter-domain link establishment.

Description

Technical Field

[0001] The present invention belongs to the technical field of network communication, and in particular relates to a large-scale satellite network inter-domain autonomous link planning method. Background Art

[0002] Satellite constellation network is a network system that uses satellites as network nodes to acquire, transmit and process space information in real time. Currently, multiple satellite constellation projects with intersatellite links are being planned or implemented at home and abroad for the purpose of wireless communication and earth observation. Since satellites are always in motion in orbit, network nodes cannot be always visible, links need to be switched dynamically, and the topology structure will change dynamically. At present, the demand for intelligent and autonomous network management of satellite constellations is increasing, and network autonomous link planning is an important part of intelligent and autonomous network management. It is of great significance to achieve network topology optimization and build information transmission channels.

[0003] As the scale of satellite constellations grows, the proportion of satellite network autonomous management occupying on-board resources is increasing. In order to improve management efficiency, it is inevitable to implement domain management for large-scale constellations. The original small-scale constellation autonomous link planning method can be used for intra-domain link building planning, while inter-domain link building planning becomes the key and bridge connecting various domains. How to build inter-domain links with a large number of links, long link duration, good topological stability, and high network node coverage is a difficult problem in the current satellite constellation network link building planning. Therefore, how to achieve efficient and optimized inter-domain autonomous link building planning for satellite networks is of great significance to the realization of intelligent and autonomous network management. Summary of the invention

[0004] The technology of the present invention solves the problem: overcomes the shortcomings of the prior art and provides a large-scale satellite network inter-domain autonomous link establishment planning method, which can realize distributed inter-domain link establishment autonomous planning when the relative positions between satellite network domains change dynamically.

[0005] In order to solve the above technical problems, the present invention discloses a large-scale satellite network inter-domain autonomous link planning method, comprising:

[0006] Step 1: The ground controller divides the constellation into domains according to the constellation functions and operation management agencies, and designates a domain controller for each domain. A constellation with independent functions and managed by an independent operation management agency is a domain, and the link establishment planning within the domain is completed by the corresponding domain controller.

[0007] Step 2: The ground controller performs initial configuration on each domain, setting the domain number, domain boundary node and neighboring domain number of each domain;

[0008] Step 3: Each domain controller periodically collects the usage status and node orbit information of the inter-satellite antenna terminals at the boundary nodes of the domain, and sends the collected usage status and node orbit information of the inter-satellite antenna terminals at the boundary nodes of the domain to a neighboring domain controller with a higher priority;

[0009] Step 4: Each domain controller periodically constructs a three-dimensional Boolean matrix of link visibility relations based on the collected inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the domain, as well as the inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the low-priority neighboring domains;

[0010] Step 5: Each domain controller periodically plans an inter-domain link establishment planning table according to the link visibility relationship three-dimensional Boolean matrix, and sends the inter-domain link establishment planning table to the domain boundary nodes and neighboring domain controllers that need to establish links in the domain;

[0011] Step 6: After receiving the inter-domain link establishment planning table, each domain controller verifies whether the inter-satellite antenna of the domain boundary node of the domain is occupied within the time period of the inter-domain link establishment planning table; if the inter-satellite antenna of the domain boundary node of the domain appears in the inter-domain link establishment planning table, has established a link with a satellite in a neighboring domain, and has planned to establish a link with satellites in other domains within the same time period, it is considered that the inter-satellite antenna of the domain boundary node of the domain is occupied within the time period of the inter-domain link establishment planning table, and a re-planning request is sent to the domain controller of the source domain of the inter-domain link establishment planning table, and the process returns to step 5 to re-plan the inter-domain link establishment planning table; otherwise, it is considered that the inter-satellite antenna of the domain boundary node of the domain is not occupied within the time period of the inter-domain link establishment planning table, and the inter-domain link establishment planning table is sent to the corresponding domain boundary node of the domain;

[0012] Step 7: Each domain boundary node controls the rotation of the relevant inter-satellite antenna terminal and establishes the link according to the received inter-domain link establishment planning table.

[0013] In the above-mentioned large-scale satellite network inter-domain autonomous link planning method, the domain number is represented by an integer greater than 0, and the domain number of each domain is different; the domain number is the domain priority, and the larger the domain number, the higher the domain priority.

[0014] In the above-mentioned large-scale satellite network inter-domain autonomous link planning method, the domain boundary node refers to: a satellite in the domain that can establish an inter-domain link with other domains.

[0015] In the above-mentioned large-scale satellite network inter-domain autonomous link planning method, the neighboring domain refers to: a domain that directly establishes an inter-satellite link connection with the current domain.

[0016] In the above-mentioned large-scale satellite network inter-domain autonomous link planning method, each domain controller periodically constructs a three-dimensional Boolean matrix of link visibility relations based on the collected inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the domain, as well as the inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the low-priority neighboring domain, including:

[0017] Each domain controller periodically calculates the number of satellite orbital elements within the planning period through orbital extrapolation based on the collected inter-satellite antenna terminal usage status and node orbital information of the domain boundary nodes of the domain, as well as the inter-satellite antenna terminal usage status and node orbital information of the domain boundary nodes of the low-priority neighboring domains;

[0018] According to the calculated number of satellite orbit elements within the period, as well as the input installation position and antenna half angle of the onboard antenna, the visible time period of the cross-domain inter-satellite link between the local domain and the neighboring domain is calculated to form a three-dimensional Boolean matrix of link visibility relations.

[0019] In the above-mentioned large-scale satellite network inter-domain autonomous link planning method, the calculation process of the visible time period of the cross-domain inter-satellite link between the local domain and the neighboring domain is as follows:

[0020] The antennas at both ends of the cross-domain intersatellite link are denoted as antenna p and antenna q respectively;

[0021] If the line L between antenna p and antenna q pq Not blocked by the earth, and the installation direction of antenna p is consistent with the line L pq The angle between the antenna and the connection line L is smaller than the half angle of the antenna p, and the installation direction of the antenna q is parallel to the connection line L. pq The angle between the two antennas is smaller than the half angle of antenna q, and both antenna p and antenna q are free; then, it is determined that the link between the two antennas is accessible, and then the visible time period of the cross-domain intersatellite link between the local domain and the neighboring domain is calculated.

[0022] In the above-mentioned large-scale satellite network inter-domain autonomous link planning method, the first dimension length of the link visibility relationship three-dimensional Boolean matrix is ​​time, the second dimension is the number of antennas used for inter-domain link building in the current domain, and the third dimension length is the number of antennas used for inter-domain link building in all low-priority neighboring domains; the element value in the matrix is ​​1, indicating that the link between the two antennas is accessible at this moment; the element value is 0, indicating that the link between the two antennas is not accessible at this moment.

[0023] In the above-mentioned large-scale satellite network inter-domain autonomous link planning method, the planning period refers to: the time it takes for the domain controller of this domain to orbit the earth once.

[0024] In the above-mentioned large-scale satellite network inter-domain autonomous link establishment planning method, the inter-domain link establishment planning table is used to describe the link establishment and link disconnection time of the inter-satellite link between the domain boundary node of the current domain and the domain boundary node of the neighboring domain; wherein, an entry in the inter-domain link establishment planning table represents an inter-domain link, and the corresponding six-tuple is the domain boundary node ID, the domain boundary node antenna ID, the domain boundary node ID, the neighboring domain boundary node antenna ID, the link establishment time and the link disconnection time.

[0025] In the above-mentioned large-scale satellite network inter-domain autonomous link establishment planning method, when planning the inter-domain link establishment planning table:

[0026] On the same track plane, links are continuously built between adjacent nodes;

[0027] Links in different orbits or layers are established using the longest link duration algorithm. The longest link duration algorithm means that for each satellite's available link, a link is established with an available link of a satellite visible to it at that moment from among its visible satellites, and the link is maintained until the link becomes unavailable.

[0028] Plan the links between the local domain and neighboring domains in descending order of domain priority.

[0029] The present invention has the following advantages:

[0030] (1) The present invention discloses a method for planning autonomous inter-domain link building in a large-scale satellite network. Each domain controller autonomously obtains the number of orbital roots and link status of the boundary nodes of the domain and the low-priority neighboring domain according to the domain number and neighboring domain information on the ground, plans the inter-domain link building planning table of the domain and the neighboring domain in the next cycle, and confirms the executability of the inter-domain link building planning table through the link building planning confirmation mechanism with the neighboring domain, and finally forms an executable inter-domain link building planning table. It can be seen that the present invention can complete the on-board autonomous link building planning for the inter-domain link through the information exchange of planning input information, planning results, etc. between domain controllers, and solve the problems of manual inter-domain link building and slow response to abnormal link changes in time-division agile large-scale satellite networks.

[0031] (2) The present invention discloses a method for autonomous inter-domain link establishment planning in a large-scale satellite network. Each domain controller collects domain boundary node information of the domain and low-priority neighboring domains, locally plans inter-domain link establishment, and implements onboard distributed inter-domain link establishment planning. This can solve the problem that the previous link establishment planning requires the collection of global information, resulting in tight computing and storage resources of the main satellite node, and improves the reliability and anti-destruction performance of the constellation network management. In the event of damage to any node, the link establishment of other inter-domain links will not be affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flow chart of a large-scale satellite network inter-domain autonomous link planning method in an embodiment of the present invention;

[0033] Figure 2 It is a schematic diagram of a satellite constellation network architecture in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0035] One of the core ideas of the present invention is to propose a large-scale satellite network inter-domain autonomous link establishment planning method, the overall idea of ​​the method is: the ground controller divides the constellation into domains according to the constellation function, designates a domain controller for each domain, and performs initial configuration on each domain in terms of domain number, domain boundary node, neighboring domain number, etc.; the domain controller collects the use status of the inter-satellite antenna terminal of the domain boundary node, the node orbit information, etc., and sends it to the high-priority neighboring domain controller; each domain controller generates an inter-domain link establishment planning table in the future period according to the use status of the inter-satellite antenna terminal of the domain boundary node and the node orbit information of the domain boundary node of the domain and the low-priority neighboring domain through orbit extrapolation, visibility calculation, and link establishment planning, and sends it to the low-priority neighboring domain controller, and after the table validity check, controls the relevant inter-satellite antenna terminal to rotate and establish the link, and finally completes the inter-domain link establishment.

[0036] Reference Figure 1 In this embodiment, the large-scale satellite network inter-domain autonomous link planning method includes:

[0037] Step 1: The ground controller divides the constellation into domains according to the constellation function and operation management organization, and designates a domain controller for each domain.

[0038] In this embodiment, generally, a constellation having independent functions and managed by an independent operation and management organization is a domain, and the link establishment planning within the domain is completed by the corresponding domain controller.

[0039] Step 2: The ground controller performs initial configuration on each domain, setting the domain number, domain boundary node and neighboring domain number of each domain.

[0040] In this embodiment, the domain number is represented by an integer greater than 0, and the domain number of each domain is different; the domain number is the domain priority, and the larger the domain number, the higher the domain priority. The domain boundary node refers to: a satellite in the domain that can establish an inter-domain link with other domains. The neighboring domain refers to: a domain that directly establishes an inter-satellite link connection with the domain.

[0041] Step 3: Each domain controller periodically collects the intersatellite antenna terminal usage status and node orbit information of the domain boundary nodes, and sends the collected intersatellite antenna terminal usage status and node orbit information of the domain boundary nodes to the neighboring domain controller with higher priority.

[0042] Step 4: Each domain controller periodically constructs a three-dimensional Boolean matrix of link visibility relations based on the collected inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the domain, as well as the inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the low-priority neighboring domains.

[0043] In this embodiment, first, each domain controller periodically calculates the number of satellite orbital elements within the planning period based on the collected inter-satellite antenna terminal usage status and node orbital information of the domain boundary nodes of the domain, and the inter-satellite antenna terminal usage status and node orbital information of the domain boundary nodes of the low-priority neighboring domains through orbital extrapolation. Then, based on the calculated number of satellite orbital elements within the period, as well as the input installation position of the on-board antenna and the antenna half angle, the visible time period of the cross-domain inter-satellite link between the domain and the neighboring domain is calculated to form a three-dimensional Boolean matrix of link visibility relations. Among them, the planning period refers to: the time it takes for the domain controller of the domain to orbit the earth.

[0044] Preferably, the calculation process of the visible time period of the cross-domain intersatellite link between the local domain and the neighboring domain is as follows: the antennas at both ends of the cross-domain intersatellite link are respectively denoted as antenna p and antenna q. Among them, if the connection line L between antenna p and antenna q is pq Not blocked by the earth, and the installation direction of antenna p is consistent with the line L pq The angle between the antenna and the connection line L is smaller than the half angle of the antenna p, and the installation direction of the antenna q is parallel to the connection line L. pq The angle between the two antennas is smaller than the half angle of antenna q, and both antenna p and antenna q are free; then, it is determined that the link between the two antennas is accessible, and then the visible time period of the cross-domain intersatellite link between the local domain and the neighboring domain is calculated.

[0045] Preferably, the first dimension length of the link visibility relationship three-dimensional Boolean matrix is ​​time, the second dimension is the number of antennas used by the current domain for inter-domain link establishment, and the third dimension length is the number of antennas used by all low-priority neighboring domains for inter-domain link establishment; an element value in the matrix is ​​1, indicating that the link between the two antennas is accessible at that moment; an element value of 0 indicates that the link between the two antennas is not accessible at that moment.

[0046] Step 5: Each domain controller periodically plans an inter-domain link establishment planning table according to the link visibility relationship three-dimensional Boolean matrix, and sends the inter-domain link establishment planning table to the domain boundary nodes and neighboring domain controllers that need to establish links in the domain.

[0047] In this embodiment, the inter-domain link establishment planning table is used to describe the establishment and disconnection time of the inter-satellite link between the domain boundary node of the current domain and the domain boundary node of the neighboring domain. Among them, one table entry in the inter-domain link establishment planning table represents an inter-domain link, and the corresponding six-tuple is the domain boundary node ID of the current domain, the domain boundary node antenna ID of the current domain, the domain boundary node ID of the neighboring domain, the establishment time and the disconnection time.

[0048] Preferably, when planning the inter-domain link establishment planning table:

[0049] In the same orbital plane, adjacent nodes continue to build links, that is, satellites in the same orbit are connected to form a link ring. For example, if there are six satellites in an orbital plane, the link building method is as follows: 1-2-3-4-5-6-1.

[0050] Links in different orbits or layers are established using the longest link duration algorithm. The longest link duration algorithm means that for each satellite's available link, a link is established with a satellite's available link that is visible to it at that moment, and the link is maintained until the link is unavailable.

[0051] Plan the links between the local domain and neighboring domains in descending order of domain priority.

[0052] Step 6: After receiving the inter-domain link establishment planning table, each domain controller verifies whether the inter-satellite antenna of the domain boundary node is occupied within the time period of the inter-domain link establishment planning table; if the inter-satellite antenna of the domain boundary node appears in the inter-domain link establishment planning table, has established a link with a neighboring satellite, and has planned to establish a link with other domain satellites within the same time period, then it is considered that the inter-satellite antenna of the domain boundary node is occupied within the time period of the inter-domain link establishment planning table, and a re-planning request is sent to the domain controller of the source domain of the inter-domain link establishment planning table, and the process returns to step 5 to re-plan the inter-domain link establishment planning table; otherwise, it is considered that the inter-satellite antenna of the domain boundary node is not occupied within the time period of the inter-domain link establishment planning table, and the inter-domain link establishment planning table is sent to the corresponding domain boundary node of the domain.

[0053] Step 7: Each domain boundary node controls the rotation of the relevant inter-satellite antenna terminal and establishes the link according to the received inter-domain link establishment planning table.

[0054] Based on the above embodiment, a specific example is described below.

[0055] This embodiment selects a satellite constellation network including three domains to further illustrate the large-scale satellite network inter-domain autonomous link planning method.

[0056] like Figure 2As shown, the satellite constellation network includes three domains. The constellation configuration of domain 1 is Walker Delta 3 / 1 / 0, that is, it includes three evenly distributed orbital planes, one satellite in each orbital plane, the phase difference between adjacent orbital planes is 0, all satellite orbits are circular orbits with an eccentricity of 0, and the time to orbit the earth is 10 hours; domain 5 includes five geostationary synchronous orbit satellites, which are evenly distributed on the orbital plane; the constellation configuration of domain 10 is Walker Delta 9 / 3 / 0, that is, it includes three evenly distributed orbital planes, three satellites are evenly distributed in each orbital plane, the phase difference between adjacent orbital planes is 0, all satellite orbits are circular orbits with an eccentricity of 0, and the time to orbit the earth is 90 minutes. The mth satellite in the nth orbital plane of domain i is numbered S i-nm All satellites are equipped with four antennas, front, back, left, and right, with a half-angle of 89 degrees. The front and back antennas are used to establish links between satellites in the same orbit within the domain, and the left and right antennas can be used to establish links between different orbits within the domain and between domains. The left antenna of the mth satellite on the nth orbital plane of domain i is numbered A. i-nm1 The right antenna is numbered A i-nm2 .

[0057] S1, ground intersatellite link operation management center Figure 2 The network is divided into three domains, and each domain is assigned a domain controller. The controller of domain 1 is S 1-21 , the controller of domain 5 is S 5-13 , the controller of domain 10 is S 10-22 .

[0058] S2, the ground controller performs initial configuration of each domain, and sets the domain number, domain boundary node, neighboring domain number, etc. to each domain controller.

[0059] like Figure 2 As shown, 2 to 4 domain boundary nodes are set for each domain, and the three domains are neighbors of each other.

[0060] S3, each domain controller periodically collects the usage status of the intersatellite antenna terminals and node orbit information of the boundary nodes of the domain, and sends this information to the neighboring domain controller with higher priority.

[0061] For domain 1, domain controller S 1-21 Collect the track information and link status information of all domain boundary nodes in this domain, plan the link building plan table in this domain, and send the track information and link status information of the domain boundary nodes to the domain controller S5 5-13 and domain 10 controller S 10-22 , the information sent is shown in Table 1. Similarly, the domain boundary node information of domain 5 is sent to the controller of domain 10.

[0062]

[0063] Table 1, Domain 1 Controller S 1-21 Information table sent to domain 5 controller and domain 10 controller

[0064] S4, each domain controller periodically calculates the number of satellite orbit elements within the orbital period by orbit extrapolation based on the neighboring and local boundary node information received, and calculates the visible time period of the intersatellite link between the local domain and the neighboring domain based on the installation position of the onboard antenna and the antenna half angle and other input parameters, forming a three-dimensional Boolean matrix of link visibility relations. Among them, the link accessibility relationship between domain 10 and the low-priority neighboring domain is shown in Table 2 below:

[0065]

[0066]

[0067] Table 2: Link availability relationship between domain 10 and low priority neighboring domains at time t

[0068] S5, each domain controller periodically plans the inter-satellite link establishment planning table according to the link visibility relationship three-dimensional Boolean matrix calculated in S4, and each planning cycle is the time it takes for the domain controller to orbit the earth once.

[0069] In this embodiment, the three domains are distributed in different orbital layers. The inter-domain links of different orbital layers are generated according to the priority using the longest duration algorithm, and the inter-satellite link establishment planning table is sent to the domain boundary nodes and neighboring domain controllers that need to establish links in the domain. Among them, the inter-satellite link establishment planning table sent by the domain 10 controller to the domain 5 controller is shown in Table 3 below, and the inter-satellite link establishment planning table sent by the domain 10 controller to the satellite S10-11 is shown in Table 4 below:

[0070]

[0071] Table 3, link establishment plan table sent by domain 10 controller to domain 5 controller

[0072]

[0073] Table 4, domain 10 controller to satellite S 10-11 Sent link building plan

[0074] S6, after receiving the inter-satellite link establishment planning table, the domain controller verifies whether the inter-satellite antenna terminal of the domain boundary node related to the domain is occupied within the time period of the inter-satellite link establishment planning table. If not occupied, the inter-satellite link establishment planning table is sent to the domain boundary node related to the domain; if occupied, a re-planning request is sent to the domain controller of the source domain of the inter-satellite link establishment planning table, and returns to S5 for re-planning. This step can prevent the asynchronous inter-domain link establishment planning results of different domain controllers from conflicting in the use of a certain inter-satellite link terminal.

[0075] S7, each domain boundary node controls the rotation of the relevant inter-satellite antenna terminal and establishes the link according to the inter-satellite link establishment planning table.

[0076] In summary, the present invention discloses a method for autonomous inter-domain link establishment planning in a large-scale satellite network, which can realize autonomous exchange of domain information between domain controllers, and collaboratively complete inter-domain link visibility analysis and optimal link establishment planning, and can autonomously establish relatively stable and efficient inter-domain links in a distributed manner on board, thereby realizing autonomous planning of large-scale satellite network topology.

[0077] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0078] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A large-scale satellite network inter-domain autonomous link planning method, characterized in that: include: Step 1: The ground controller divides the constellation into domains according to the constellation functions and operation management agencies, and designates a domain controller for each domain. A constellation with independent functions and managed by an independent operation management agency is a domain, and the link establishment planning within the domain is completed by the corresponding domain controller. Step 2: The ground controller performs initial configuration on each domain, setting the domain number, domain boundary node and neighboring domain number of each domain; Step 3: Each domain controller periodically collects the usage status and node orbit information of the inter-satellite antenna terminals at the boundary nodes of the domain, and sends the collected usage status and node orbit information of the inter-satellite antenna terminals at the boundary nodes of the domain to a neighboring domain controller with a higher priority; Step 4: Each domain controller periodically constructs a three-dimensional Boolean matrix of link visibility relations based on the collected inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the domain, as well as the inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the low-priority neighboring domains; Step 5: Each domain controller periodically plans an inter-domain link establishment planning table according to the link visibility relationship three-dimensional Boolean matrix, and sends the inter-domain link establishment planning table to the domain boundary nodes and neighboring domain controllers that need to establish links in the domain; Step 6: After receiving the inter-domain link establishment planning table, each domain controller verifies whether the inter-satellite antenna of the domain boundary node of the domain is occupied within the time period of the inter-domain link establishment planning table; if the inter-satellite antenna of the domain boundary node of the domain appears in the inter-domain link establishment planning table, has established a link with a satellite in a neighboring domain, and has planned to establish a link with satellites in other domains within the same time period, it is considered that the inter-satellite antenna of the domain boundary node of the domain is occupied within the time period of the inter-domain link establishment planning table, and a re-planning request is sent to the domain controller of the source domain of the inter-domain link establishment planning table, and the process returns to step 5 to re-plan the inter-domain link establishment planning table; otherwise, it is considered that the inter-satellite antenna of the domain boundary node of the domain is not occupied within the time period of the inter-domain link establishment planning table, and the inter-domain link establishment planning table is sent to the corresponding domain boundary node of the domain; Step 7: Each domain boundary node controls the rotation of the relevant inter-satellite antenna terminal and establishes the link according to the received inter-domain link establishment planning table.

2. The large-scale satellite network inter-domain autonomous link planning method according to claim 1 is characterized in that: The domain number is represented by an integer greater than 0, and the domain number of each domain is different; the domain number is the domain priority, and the larger the domain number, the higher the domain priority.

3. The large-scale satellite network inter-domain autonomous link planning method according to claim 1 is characterized in that: A domain boundary node refers to a satellite in the domain that can establish inter-domain links with other domains.

4. The method for planning large-scale satellite network inter-domain autonomous link establishment according to claim 1, characterized in that: A neighboring domain refers to a domain that has an intersatellite link connection directly established with this domain.

5. The large-scale satellite network inter-domain autonomous link planning method according to claim 1 is characterized in that: Each domain controller periodically constructs a three-dimensional Boolean matrix of link visibility relations based on the collected inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the domain, as well as the inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes of the low-priority neighboring domain, including: Each domain controller periodically calculates the number of satellite orbital elements within the planning period through orbital extrapolation based on the collected inter-satellite antenna terminal usage status and node orbital information of the domain boundary nodes of the domain, as well as the inter-satellite antenna terminal usage status and node orbital information of the domain boundary nodes of the low-priority neighboring domains; According to the calculated number of satellite orbit elements within the period, as well as the input installation position and antenna half angle of the onboard antenna, the visible time period of the cross-domain inter-satellite link between the local domain and the neighboring domain is calculated to form a three-dimensional Boolean matrix of link visibility relations.

6. The method for planning large-scale satellite network inter-domain autonomous link establishment according to claim 5, characterized in that: The calculation process of the visible time period of the inter-domain inter-satellite link between the local domain and the neighboring domain is as follows: The antennas at both ends of the cross-domain intersatellite link are denoted as antenna p and antenna q respectively; If the line L between antenna p and antenna q pq Not blocked by the earth, and the installation direction of antenna p is consistent with the line L pq The angle between the antenna and the connection line L is smaller than the half angle of the antenna p, and the installation direction of the antenna q is parallel to the connection line L. pq The angle between the two antennas is smaller than the half angle of antenna q, and both antenna p and antenna q are free; then, it is determined that the link between the two antennas is accessible, and then the visible time period of the cross-domain intersatellite link between the local domain and the neighboring domain is calculated.

7. The method for planning large-scale satellite network inter-domain autonomous link establishment according to claim 5, characterized in that: The first dimension length of the link visibility relationship three-dimensional Boolean matrix is ​​time, the second dimension is the number of antennas used by the domain for inter-domain link establishment, and the third dimension length is the number of antennas used by all low-priority neighboring domains for inter-domain link establishment; The element value in the matrix is ​​1, which indicates that the link between the two antennas is accessible at that moment; the element value is 0, which indicates that the link between the two antennas is unavailable at that moment.

8. The method for planning large-scale satellite network inter-domain autonomous link establishment according to claim 5, characterized in that: The planning cycle refers to the time it takes for the domain controller of this domain to orbit the earth.

9. The method for planning large-scale satellite network inter-domain autonomous link establishment according to claim 1, characterized in that: The inter-domain link establishment planning table is used to describe the establishment and disconnection time of the inter-satellite link between the domain boundary node of the current domain and the domain boundary node of the neighboring domain; wherein, an entry in the inter-domain link establishment planning table represents an inter-domain link, and the corresponding six-tuple is the domain boundary node ID of the current domain, the domain boundary node antenna ID of the current domain, the domain boundary node ID, the neighboring domain boundary node antenna ID, the establishment time and the disconnection time.

10. The method for planning large-scale satellite network inter-domain autonomous link establishment according to claim 1, characterized in that: When planning the inter-domain link establishment planning table: On the same track plane, links are continuously built between adjacent nodes; Links in different orbits or layers are established using the longest link duration algorithm. The longest link duration algorithm means that for each satellite's available link, a link is established with an available link of a satellite visible to it at that moment from among its visible satellites, and the link is maintained until the link becomes unavailable. Plan the links between the local domain and neighboring domains in descending order of domain priority.

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