A large-scale satellite network inter-domain autonomous link planning method

Abstract

The application discloses a large-scale satellite network inter-domain autonomous chain construction planning method, and the general idea of the method is as follows: a ground controller divides a constellation into domains according to constellation functions, specifies a domain controller for each domain, and performs initial configuration on the domain number, domain boundary node, adjacent domain number and the like of each domain; the domain controller collects the inter-satellite antenna terminal use state and node orbit information of the domain boundary node, and sends the same to a high-priority adjacent domain controller; each domain controller generates an inter-domain link chain construction planning table in a future period according to the inter-satellite antenna terminal use state and node orbit information of the domain boundary node of the domain and low-priority adjacent domains, through orbit extrapolation, visibility calculation and chain construction planning, and sends the same to the low-priority adjacent domain controller; after table validity verification, the related inter-satellite antenna terminal is controlled to rotate and construct a chain, and finally the inter-domain link chain construction is completed.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of network communication, and particularly relates to a large-scale satellite network inter-domain autonomous link planning method. BACKGROUND

[0002] The satellite constellation network is a network system taking satellites as network nodes, and acquiring, transmitting and processing space information in real time. At present, multiple satellite constellation projects with inter-satellite links are planned or implemented at home and abroad for the purposes of wireless communication, earth observation, etc. Since the satellites are in motion on the orbit at all times, the network nodes cannot be kept visible at all times, the links need to be dynamically switched, and the topology structure will dynamically change. At present, the satellite constellation has a higher and higher demand for network intelligent autonomous management, and the network autonomous link planning is an important part of the network intelligent autonomous management, which has important significance for realizing network topology optimization and constructing information transmission channels.

[0003] With the increasing scale of the satellite constellation, the satellite network autonomous management occupies a higher and higher proportion of the on-board resources. In order to improve the management efficiency, implementing the domain management for the large-scale constellation has become an inevitable choice. The link planning in the domain can adopt the original autonomous link planning method of the small-scale constellation, and the inter-domain link planning becomes the key and bridge connecting the domains. How to construct the inter-domain link with a large number of links, long link duration, good topology stability and high network node coverage is a difficult problem in the link planning of the satellite constellation network. Therefore, how to realize the efficient and optimized inter-domain autonomous link planning of the satellite network has important significance for realizing the network intelligent autonomous management. SUMMARY

[0004] The technical problem of the application is to overcome the shortcomings of the prior art, and provide a large-scale satellite network inter-domain autonomous link planning method, which can realize the distributed inter-domain link autonomous planning under the condition of the dynamic change of the relative positions between the satellite network domains.

[0005] In order to solve the above technical problem, the application discloses a large-scale satellite network inter-domain autonomous link planning method, which comprises the following steps:

[0006] Step 1: a ground controller divides a constellation into domains according to the functions of the constellation and the operation and management agencies of the constellation, and specifies a domain controller for each domain; wherein one constellation with independent functions and managed by an independent operation and management agency is one domain, and the link planning in the domain is completed by the corresponding domain controller;

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

[0008] Step 3, each domain controller periodically collects the inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes in the domain, and sends the collected inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes in the domain to the higher-priority neighboring domain controller;

[0009] Step 4, each domain controller periodically constructs a link visibility relationship three-dimensional Boolean matrix according to the collected inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes in the domain, and the inter-satellite antenna terminal usage status and node orbit information of the domain boundary nodes in the lower-priority neighboring domain;

[0010] Step 5, each domain controller periodically plans an inter-domain link chain planning table according to the link visibility relationship three-dimensional Boolean matrix, and sends the inter-domain link chain planning table to the domain boundary nodes and neighboring domain controllers in the domain that need to be chained;

[0011] Step 6, after each domain controller receives the inter-domain link chain planning table, it checks whether the inter-satellite antenna of the domain boundary node in the domain is occupied in the time period of the inter-domain link chain planning table. If the inter-satellite antenna of the domain boundary node in the domain appears in the inter-domain link chain planning table, has been chained with a neighboring satellite, and has been planned to be chained with other domain satellites in the same time period, it is considered that the inter-satellite antenna of the domain boundary node in the domain is occupied in the time period of the inter-domain link chain planning table, a re-planning request is sent to the domain controller of the source domain of the inter-domain link chain planning table, and the inter-domain link chain planning table is re-planned in step 5. Otherwise, it is considered that the inter-satellite antenna of the domain boundary node in the domain is not occupied in the time period of the inter-domain link chain planning table, and the inter-domain link chain planning table is sent to the corresponding domain boundary node in the domain;

[0012] Step 7, each domain boundary node controls the relevant inter-satellite antenna terminal to rotate and chain according to the received inter-domain link chain planning table.

[0013] In the above-mentioned large-scale satellite network inter-domain autonomous chain planning method, the domain number is represented by an integer greater than 0, and the domain numbers of each domain are 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 chain 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 chain planning method, the neighboring domain refers to a domain that directly establishes an inter-satellite link connection with the domain.

[0016] In the above inter-domain autonomous link planning method of large-scale satellite network, each domain controller periodically constructs a link visibility relationship three-dimensional Boolean matrix according to the collected inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes in the domain, and the inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes in the low-priority neighboring domains, including:

[0017] Each domain controller periodically calculates the orbit root numbers of each satellite in the planning period through orbit extrapolation according to the collected inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes in the domain, and the inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes in the low-priority neighboring domains.

[0018] According to the calculated orbit root numbers of each satellite in the period and the input installation position and half opening angle of the on-board antenna, the cross-domain inter-satellite link visibility time period between the domain and the neighboring domain is calculated to form the link visibility relationship three-dimensional Boolean matrix.

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

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

[0021] If the line L pq between antenna p and antenna q is not blocked by the earth, and the included angle between the installation direction of antenna p and the line L pq is less than the half opening angle of antenna p, and the included angle between the installation direction of antenna q and the line L pq is less than the half opening angle of antenna q, and both antenna p and antenna q are empty, then it is determined that the link between the two antennas is available, and the cross-domain inter-satellite link visibility time period between the domain and the neighboring domain is calculated.

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

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

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

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

[0026] The same orbit plane and adjacent nodes are continuously linked;

[0027] The inter-orbit or inter-layer link is established based on the longest link duration algorithm; wherein, the link establishment based on the longest link duration algorithm means that for each satellite's spare link, a satellite visible at the moment is selected to establish a link with the satellite's spare link, and the link is maintained until the link is not available.

[0028] According to the order of the domain priority from high to low, the links between the domain and the adjacent domain are planned in turn.

[0029] The present application has the following advantages:

[0030] (1) The present application discloses a large-scale satellite network inter-domain autonomous link establishment planning method, each domain controller autonomously acquires the orbital root number, link state and the like of the domain boundary node of the domain and the low-priority adjacent domain according to the domain number and adjacent domain information on the ground, plans the inter-domain link establishment planning table between the domain and the adjacent domain within a future period, and confirms the executability of the inter-domain link establishment planning table through a link establishment planning confirmation mechanism with the adjacent domain, and finally forms an executable inter-domain link establishment planning table. As can be seen, through the information exchange of planning input information, planning results and the like between the domain controllers, the present application can complete the on-board autonomous link establishment planning for the inter-domain link, and solve the problems of manual inter-domain link establishment and slow response to link abnormal changes in the time-division variable large-scale satellite network.

[0031] (2) The present application discloses a large-scale satellite network inter-domain autonomous link establishment planning method, each domain controller collects the domain boundary node information of the domain and the low-priority adjacent domain, locally plans the inter-domain link establishment, realizes the on-board distributed inter-domain link establishment planning, can solve the problem of the previous link establishment planning which needs to collect global information, causes the calculation and storage resources of the main star node to be nervous, and improves the constellation network management reliability and the invulnerability, and does not affect other inter-domain link establishment in the case of any node damage. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a flowchart of a large-scale satellite network inter-domain autonomous link establishment planning method in an embodiment of the present application;

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

[0034] In order to make the purpose, technical solutions and advantages of the present application clearer, the disclosed embodiments of the present application will be described in further detail below with reference to the drawings.

[0035] One of the core ideas of the present application is to propose a large-scale satellite network inter-domain autonomous link planning method. The overall idea of this method is as follows: a ground controller divides a constellation into domains according to the functions of the constellation, specifies a domain controller for each domain, and performs initial configuration on each domain in terms of domain number, domain boundary node, and adjacent domain number. A domain controller collects the inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes, and sends them to a high-priority adjacent domain controller. Each domain controller generates an inter-domain link planning table for the future period according to the inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes in the domain and in low-priority adjacent domains, through orbit extrapolation, visibility calculation, and link planning, and sends it to a low-priority adjacent domain controller. After the table validity check, the relevant inter-satellite antenna terminals are rotated and linked, and finally the inter-domain link is established.

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

[0037] Step 1: A ground controller divides a constellation into domains according to the functions of the constellation and the operation and management agencies, and specifies a domain controller for each domain.

[0038] In this embodiment, generally, one constellation with independent functions and managed by an independent operation and management agency is one domain, and the link planning in the domain is completed by the corresponding domain controller.

[0039] Step 2: A ground controller performs initial configuration on each domain, sets the domain number, domain boundary node, and adjacent domain number of each domain.

[0040] In this embodiment, the domain number is represented by an integer greater than 0, and the domain numbers of each domain are 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 adjacent 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 inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes, and sends the collected inter-satellite antenna terminal usage state and node orbit information of the domain boundary nodes to a higher-priority adjacent domain controller.

[0042] Step 4, each domain controller periodically constructs a link visibility relationship three-dimensional Boolean matrix according to the collected inter-domain node inter-satellite antenna terminal usage status and node orbit information of the domain, and the inter-domain node inter-satellite antenna terminal usage status and node orbit information of the low-priority neighbor domain.

[0043] In this embodiment, first, each domain controller periodically calculates the satellite orbit root number within the planning period by orbit extrapolation according to the collected inter-domain node inter-satellite antenna terminal usage status and node orbit information of the domain, and the inter-domain node inter-satellite antenna terminal usage status and node orbit information of the low-priority neighbor domain. Then, according to the calculated satellite orbit root number within the period and the input installation position and antenna half-angle of the on-board antenna, the cross-domain inter-satellite link visibility time period between the domain and the neighbor domain is calculated to form a link visibility relationship three-dimensional Boolean matrix. The planning period refers to the time for the domain controller to orbit the earth once.

[0044] Preferably, the calculation process of the cross-domain inter-satellite link visibility time period between the domain and the neighbor domain is as follows: the antennas at both ends of the cross-domain inter-satellite link are respectively denoted as antenna p and antenna q. If the line L between antenna p and antenna q is not blocked by the earth, the angle between the installation direction of antenna p and the line L is less than the half-angle of antenna p, the angle between the installation direction of antenna q and the line L is less than the half-angle of antenna q, and both antenna p and antenna q are free, it is determined that the link between the two antennas is available, and the cross-domain inter-satellite link visibility time period between the domain and the neighbor domain is calculated. pq pq pq

[0045] Preferably, the first dimension of the link visibility relationship three-dimensional Boolean matrix has a length of time, the second dimension has a length of the number of antennas used for inter-domain link establishment in the domain, and the third dimension has a length of the number of antennas used for inter-domain link establishment in all low-priority neighbor domains. The element value in the matrix is 1, indicating that the link between the two antennas is available at this time; and the element value is 0, indicating that the link between the two antennas is not available at this time.

[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 inter-domain node and the neighbor domain controller which need to establish a link.

[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 and the neighbor domain boundary node. One table entry in the inter-domain link establishment planning table represents one 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 neighbor domain boundary node antenna ID, the establishment time and the disconnection time.

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

[0049] The same orbital plane, the adjacent nodes are continuously chained, that is, the same orbital satellite is connected at the end, forming a link ring. For example, there are six satellites in an orbital plane, and the chain is built as follows: 1-2-3-4-5-6-1.

[0050] The different orbit or different layer link adopts the longest link duration algorithm based on the chain. Among them, the longest link duration algorithm based on the chain is that for each satellite's free link, among the visible satellites, select the visible satellite free link at this moment, and keep this link until the link is not available;

[0051] According to the order from high to low of the domain priority, the inter-domain link between the domain and the adjacent domain is planned in turn.

[0052] Step 6, after each domain controller receives the inter-domain link chain planning table, it checks whether the inter-domain link chain planning table time period is occupied by the inter-domain link chain planning table. If the inter-domain link chain planning table appears in the inter-domain link chain planning table, it is considered that the inter-domain link chain planning table time period is occupied by the inter-domain link chain planning table, and a re-planning request is sent to the domain controller of the source domain of the inter-domain link chain planning table. Return to step 5 to re-plan the inter-domain link chain planning table; otherwise, it is considered that the inter-domain link chain planning table time period is not occupied, and the inter-domain link chain planning table is sent to the corresponding domain boundary node.

[0053] Step 7, each domain boundary node controls the relevant inter-satellite antenna terminal according to the received inter-domain link chain planning table, and builds the chain.

[0054] On the basis of the above embodiment, a specific example is described below.

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

[0056] As Figure 2As shown, the satellite constellation network comprises three domains, domain 1 constellation configuration is Walker Delta 3 / 1 / 0, that is, including three average distributed orbital planes, one satellite in each orbital plane, the phase difference of adjacent orbital planes is 0, all satellite orbits are circular orbits with eccentricity of 0, and the time for one revolution around the earth is 10 hours; domain 5 includes five geostationary satellites, which are evenly distributed on the orbital plane; domain 10 constellation configuration is Walker Delta 9 / 3 / 0, that is, including three average distributed orbital planes, three satellites are evenly distributed in each orbital plane, the phase difference of adjacent orbital planes is 0, and all satellite orbits are circular orbits with eccentricity of 0, and the time for one revolution around the earth is 90 minutes. The number of the mth satellite on the nth orbital plane of the i domain is S i-nm . All satellites are equipped with four antennas in front, back, left and right, and the half angle of the antennas is 89 degrees. The front and back direction antennas are used for inter-orbital satellite interlinking in the domain, and the left and right direction antennas can be used for inter-orbital interlinking in the domain and inter-orbital interlinking between domains. The number of the left antenna of the mth satellite on the nth orbital plane of the i domain is A i-nm1 , and the number of the right antenna is A i-nm2 .

[0057] S1, the ground inter-satellite link operation and management center divides the network into domains as shown in Figure 2 , a total of three domains, and specifies a domain controller for each domain. The controller of domain 1 is S 1-21 , the controller of domain 5 is S 5-13 , and the controller of domain 10 is S 10-22 .

[0058] S2, the ground controller performs initial configuration for each domain, sets the domain number, domain boundary node, adjacent domain number, etc. for each domain controller.

[0059] As shown in Figure 2 , 2-4 domain boundary nodes are set for each domain, and the three domains are adjacent to each other.

[0060] S3, each domain controller periodically collects the inter-satellite antenna terminal usage state, node orbital information, etc. of the domain boundary nodes in the domain, and sends these information to the adjacent domain controller with higher priority.

[0061] For domain 1, the domain controller S 1-21 collects the orbital information and link state information of all domain boundary nodes in the domain, plans the interlinking planning table in the domain, and sends the orbital information and link state information of the domain boundary nodes to the domain 5 controller S 5-13 and the domain 10 controller S 10-22 , and the sending information is shown in Table 1. Similarly, the domain 5 domain boundary node information is sent to the domain 10 controller.

[0062]

[0063] Table 1, domain 1 controller S 1-21 Table of information sent to domain 5 controller and domain 10 controller

[0064] S4, each domain controller periodically calculates the satellite orbit elements in the orbit period according to the received adjacent and domain boundary node information, and calculates the visible time period of the inter-satellite link between the domains according to the installation position of the antenna on the satellite and the input parameters such as the half opening angle of the antenna, and forms a three-dimensional Boolean matrix of the link visibility relationship. Among them, the link accessibility relationship between domain 10 and the low-priority adjacent domain is shown in the following table 2:

[0065]

[0066]

[0067] Table 2, link accessibility table between domain 10 and low-priority adjacent domain at time t

[0068] S5, each domain controller plans the inter-satellite link establishment planning table according to the three-dimensional Boolean matrix of the link visibility relationship calculated by S4, and the planning period is one revolution of the earth around the earth.

[0069] In this embodiment, the three domains are distributed in different orbit layers, and the inter-domain link between different orbit layers is generated according to the priority from high to low using the longest duration algorithm, and the inter-satellite link establishment planning table is sent to the domain boundary node and adjacent controller in the domain that needs to be established. Among them, the inter-satellite link establishment planning table sent by the domain 10 controller to the domain 5 controller is shown in the following table 3, and the inter-satellite link establishment planning table sent by the domain 10 controller to the satellite S10-11 is shown in the following table 4:

[0070]

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

[0072]

[0073] Table 4, link establishment planning table sent by domain 10 controller to satellite S 10-11

[0074] S6, after the domain controller receives the inter-satellite link establishment planning table, it checks whether the inter-satellite antenna terminal of the related domain boundary node is occupied in the time period of the inter-satellite link establishment planning table. Among them, if there is no occupation, the inter-satellite link establishment planning table is sent to the domain boundary node; if there is occupation, 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 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 link establishment according to the inter-satellite link establishment planning table.

[0076] In conclusion, the application discloses a large-scale satellite network inter-domain autonomous link establishment planning method, which can realize autonomous exchange of domain information between domain controllers, cooperatively complete inter-domain link visibility analysis and optimal link establishment planning, can autonomously and distributively establish relatively stable and efficient inter-domain links on satellites, and realizes autonomous planning of large-scale satellite network topology.

[0077] Although the application has been disclosed with the above preferred embodiments, it is not intended to limit the application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the application by using the disclosed methods and technical contents without departing from the spirit and scope of the application, therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the application without departing from the technical solutions of the application all belong to the protection scope of the technical solutions of the application.

[0078] The contents not described in detail in the specification of the application belong to the known technology of the person skilled in the art.

Claims

1. A large-scale satellite network inter-domain autonomous link planning method, characterized in that, Comprise: Step 1, according to the constellation function and the operation management organization, the ground controller divides the constellation into domains and assigns a domain controller to each domain; wherein, a constellation with independent function and managed by an independent operation management organization is a domain, and the link planning of the domain is completed by the corresponding domain controller; Step 2, the ground controller performs initial configuration on each domain, sets the domain number, domain boundary node and adjacent domain number of each domain; Step 3, each domain controller periodically collects the inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the domain, and sends the collected inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the domain to the adjacent domain controller with higher priority; Step 4, each domain controller periodically constructs a three-dimensional Boolean matrix of link visibility relationship according to the collected inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the domain, and the inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the adjacent domain with lower priority; Step 5, each domain controller periodically plans an inter-domain link planning table according to the three-dimensional Boolean matrix of link visibility relationship, and sends the inter-domain link planning table to the domain boundary node and adjacent controller in the domain which needs to be linked; Step 6, after receiving the inter-domain link planning table, each domain controller verifies whether the inter-satellite antenna of the domain boundary node in the domain is occupied in the time period of the inter-domain link planning table; wherein, if the inter-satellite antenna of the domain boundary node appears in the inter-domain link planning table, has been linked with a neighboring satellite and has been planned to be linked with other domain satellites in the same time period, it is considered that the inter-satellite antenna of the domain boundary node is occupied in the time period of the inter-domain link planning table, a re-planning request is sent to the domain controller of the source domain of the inter-domain link planning table, and the inter-domain link planning table is re-planned in step 5; otherwise, it is considered that the inter-satellite antenna of the domain boundary node is not occupied in the time period of the inter-domain link planning table, and the inter-domain link planning table is sent to the corresponding domain boundary node in the domain; Step 7, each domain boundary node controls the relevant inter-satellite antenna terminal to rotate and link according to the received inter-domain link planning table.

2. The method of claim 1, wherein, The domain number is represented by an integer greater than 0, and the domain numbers of each domain are different; the domain number is the domain priority, and the larger the domain number is, the higher the domain priority is.

3. The method of claim 1, wherein, The domain boundary node refers to a satellite in the domain which can establish an inter-domain link with other domains.

4. The method of claim 1, wherein, The adjacent domain refers to a domain which directly establishes an inter-satellite link connection with the domain.

5. The method of claim 1, wherein, Each domain controller periodically constructs a three-dimensional Boolean matrix of link visibility relationship according to the collected inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the domain, and the inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the adjacent domain with lower priority, comprising: Each domain controller periodically calculates the orbit root number of each satellite in the planning period by orbit extrapolation according to the collected inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the domain, and the inter-satellite antenna terminal usage state and node orbit information of the domain boundary node in the adjacent domain with lower priority; According to the calculated orbit root number of each satellite in a period, and the input installation position and half angle of the antenna on the satellite, the cross-domain inter-satellite link visible time period between the home domain and the adjacent domain is calculated to form a link visible relationship three-dimensional Boolean matrix.

6. The method of claim 5, wherein, The calculation process of the cross-domain inter-satellite link visible time period between the home domain and the adjacent domain is as follows: The antennas at both ends of the cross-domain inter-satellite link are respectively denoted as antenna p and antenna q; If the connection between antenna p and antenna q is L pq It is not obstructed by the Earth, and the installation direction of antenna p is consistent with the connection line L. pq The included angle is less than half the angle of antenna p, and the installation direction of antenna q is perpendicular to the connecting line L. pq If the included angle is less than half the angle of antenna q, and both antennas p and q are empty, then the link between the two antennas is determined to be passable, and the visible time period of the inter-satellite link between the local domain and the neighboring domain can be calculated.

7. The method of claim 5, wherein, The first dimension of the link visible relationship three-dimensional Boolean matrix is time, the second dimension is the number of antennas used for inter-domain link establishment in the home domain, and the third dimension is the number of antennas used for inter-domain link establishment in all low-priority adjacent domains. The element value in the matrix is 1, indicating that the link between the two antennas is available at this time; and the element value is 0, indicating that the link between the two antennas is unavailable at this time.

8. The method of claim 5, wherein, The planning period refers to the time of one revolution of the home domain controller around the earth.

9. The method of claim 1, wherein, The inter-domain link establishment planning table is used to describe the link establishment and disconnection time of the inter-satellite link between the home domain boundary node and the adjacent domain boundary node; wherein, one table entry in the inter-domain link establishment planning table represents an inter-domain link, and the corresponding six-tuple is the home domain boundary node ID, the home domain boundary node antenna ID, the domain boundary node ID, the adjacent domain boundary node antenna ID, the link establishment time and the link disconnection time.

10. The method of claim 1, wherein, When planning the inter-domain link establishment planning table: On the same orbital plane, the adjacent nodes are continuously linked; The links between different orbits or different layers are established by using the longest link duration algorithm; wherein, the link establishment based on the longest link duration algorithm refers to: for each satellite's spare link, select the satellite that is visible at this time and has a spare link to establish a link, and maintain this link until the link is unavailable; According to the order of domain priority from high to low, the links between the home domain and the adjacent domain are planned in turn.

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