Routing method and apparatus based on on-board processing

Abstract

The embodiment of the application provides a routing method and device based on on-satellite processing, constructs a dynamic network topology according to a satellite constellation operation period and a link building rule by adopting a time slicing division mechanism. A gateway station pre-annotates time slicing and network topology corresponding relation data to a satellite node storage. After receiving data, the satellite node realizes autonomous routing calculation based on a network topology corresponding to a current time slicing, and determines a next hop forwarding node by adopting a shortest path algorithm. Through a dynamic routing recalculation mechanism of a relay node, data is guaranteed to be transmitted to a target node along an optimal path. The method effectively solves the deficiencies of traditional technologies in real-time routing, topology management and on-satellite processing, and significantly improves the performance of a satellite communication network.

Description

Technical Field

[0001] This application relates to the field of data processing, specifically to a routing method and apparatus based on on-board processing. Background Technology

[0002] Existing on-board routing methods have significant shortcomings. Traditional systems mainly rely on ground control centers for routing calculations and forwarding decisions, resulting in large communication delays, poor real-time performance, and difficulty in adapting to the dynamic changes in satellite networks.

[0003] Furthermore, existing technologies suffer from bottlenecks in network topology management. Most systems fail to effectively utilize satellite operational patterns for topology prediction and lack fine-grained time-slice division, resulting in low accuracy and efficiency in routing decisions.

[0004] Existing systems have technical shortcomings in on-board routing processing. The lack of a distributed routing computation mechanism hinders the autonomous decision-making capabilities of satellite nodes, impacting network reliability and communication efficiency. Solving these problems is crucial for improving the performance of satellite communication networks. Summary of the Invention

[0005] To address the problems in the prior art, this application provides a routing method and apparatus based on on-board processing, which can effectively solve the shortcomings of traditional technologies in terms of routing real-time performance, topology management and on-board processing, and significantly improve the performance of satellite communication networks.

[0006] To solve at least one of the above problems, this application provides the following technical solution:

[0007] Firstly, this application provides a routing method based on on-board processing, including:

[0008] The gateway station divides the orbital period of the satellite constellation into multiple time slices based on the satellite constellation's orbital period and inter-satellite link establishment rules. Based on the real-time location information and link communication status of the satellite nodes, it constructs a network topology structure corresponding to each time slice. The network topology structure includes the connection relationships and link weights between the satellite nodes. The gateway station packages and uploads the correspondence data between the time slices and the network topology structure to the satellite nodes. The satellite nodes store the received correspondence data in the topology database.

[0009] When the satellite node receives data that needs to be forwarded, the satellite node obtains the time slice at the current moment, reads the network topology structure corresponding to the current moment from the topology database, calculates the routing path of the data based on the shortest path algorithm, the routing path includes the sequence of all relay nodes from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node;

[0010] After receiving the data, the next-hop node recalculates the routing path of the data based on the network topology stored in the topology database. The next-hop node then selects a new next-hop node to forward the data according to the calculated routing path until the data is transmitted to the target node.

[0011] Furthermore, it also includes: the gateway station calculates the distance change rate and the angle change rate between adjacent satellite nodes according to the orbital parameters of the satellite constellation, sets the maximum allowable change rate according to the inter-satellite link establishment rules, divides the time period in the orbital cycle where the distance change rate and the angle change rate between adjacent satellite nodes are both less than the maximum allowable change rate into the time slice, and the gateway station timestamps the time slice;

[0012] The gateway station calculates the three-dimensional spatial coordinates of each satellite node within each time slice based on the inertial coordinate system. It determines whether adjacent satellite nodes can establish inter-satellite links based on the communication range and antenna pointing of the satellite nodes. The satellite nodes are designated as network nodes, and the establishable inter-satellite links are designated as network edges. The communication distance of the inter-satellite links is calculated based on the position coordinates of the satellite nodes as the link weight. The network nodes, network edges, and link weights are combined to construct the network topology.

[0013] Furthermore, it also includes: the gateway station establishes a mapping relationship between the identification information of each time slice and the corresponding network topology, the mapping relationship includes the start and end time of the time slice, the spatial location information of the network node, the connection status of the network edge and the link weight, the gateway station performs packet encoding on the mapping relationship data according to the satellite-to-ground communication protocol, and sends the encoded data packet to the satellite node through the uplink established between the ground gateway station and the satellite node;

[0014] After receiving the data packet, the satellite node decodes it, extracts the mapping relationship between the time slice and the network topology, creates a time index table and a topology table in the topology database, writes the time slice information into the time index table, writes the network topology into the topology table, and establishes the association relationship between the time index table and the topology table.

[0015] Furthermore, it also includes: the satellite node obtains the current Coordinated Universal Time (UTC) according to the onboard clock, converts the UTC into the orbital operating time of the satellite constellation, the satellite node retrieves the time range of the orbital operating time in the time index table, extracts the corresponding time slice identifier information, and the satellite node combines and encodes the time slice identifier information with the source node identifier and the target node identifier in the data packet;

[0016] The satellite node queries the topology table in the topology database according to the time slice identifier information, reads the network topology corresponding to the time slice, and extracts the spatial location information of the network node, the connection status of the network edge and the link weight from the network topology to generate an adjacency matrix containing node connection relationships and a weight matrix containing link communication costs.

[0017] Furthermore, it also includes: the satellite node determines all reachable paths between the source node and the target node based on the adjacency matrix, calculates the sum of the weight matrix elements corresponding to the network edges traversed by each path as the path cost, the satellite node determines the path with the minimum path cost as the routing path based on Dijkstra's shortest path algorithm, and the satellite node extracts the next network node directly connected to the current node from the routing path as the next hop node;

[0018] The satellite node encapsulates the target node identifier, routing path information, and service data according to the inter-satellite communication protocol based on the inter-satellite link port number corresponding to the next-hop node in the adjacency matrix. The satellite node establishes a communication link with the next-hop node through the inter-satellite link port and sends the encapsulated data packet to the next-hop node through the communication link.

[0019] Furthermore, it also includes: after receiving the data packet, the next-hop node decapsulates it, extracts the target node identifier and original route path information from the data packet, the next-hop node obtains the current Coordinated Universal Time and converts it into orbital running time, the next-hop node queries the corresponding time slice from the topology database according to the orbital running time, reads the network topology structure corresponding to the time slice and generates a new adjacency matrix and weight matrix;

[0020] The next-hop node takes itself as the new source node, calculates all reachable paths to the target node based on the new adjacency matrix and the new weight matrix, and compares the overlap between each reachable path and the original route path. Under the condition that the path costs are similar, the next-hop node preferentially selects the path with a higher overlap with the original route path as the new route path.

[0021] Furthermore, it also includes: the next-hop node extracts the network node directly connected to the current node from the new routing path as the new next-hop node; the next-hop node checks the inter-satellite link communication status of the new next-hop node; if the inter-satellite link communication status is normal, the next-hop node updates the routing path information in the data packet and sends the updated data packet to the new next-hop node through the corresponding inter-satellite link port.

[0022] After receiving the data packet, the new next-hop node determines whether it is the target node. If it is not the target node, it repeats the process of recalculating the routing path and forwarding data. If it is the target node, it parses the service data in the data packet to complete the data transmission. The target node then returns a confirmation message indicating that the data transmission is complete to the source node.

[0023] Secondly, this application provides a routing device based on on-board processing, comprising:

[0024] The network topology module is used by the gateway station to divide the orbital period of the satellite constellation into multiple time slices according to the orbital period and inter-satellite link establishment rules. Based on the real-time location information and link communication status of the satellite nodes, the gateway station constructs a network topology structure corresponding to each time slice. The network topology structure includes the connection relationship and link weight between the satellite nodes. The gateway station packages and uploads the correspondence data between the time slice and the network topology structure to the satellite nodes. The satellite nodes store the received correspondence data in the topology database.

[0025] The path determination module is used to, when the satellite node receives data that needs to be forwarded, obtain the time slice in which the satellite node is currently located, read the network topology structure corresponding to the current time from the topology database, calculate the routing path of the data based on the shortest path algorithm, the routing path includes the sequence of all relay nodes passed from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node;

[0026] An inter-satellite routing module is used to recalculate the routing path of the data based on the network topology stored in the topology database after the next-hop node receives the data. The next-hop node then selects a new next-hop node to forward the data according to the calculated routing path until the data is transmitted to the target node.

[0027] Thirdly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the on-board processing-based routing method.

[0028] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the on-board processing-based routing method described above.

[0029] Fifthly, this application provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the on-board processing-based routing method.

[0030] As described above, this application provides a routing method and apparatus based on on-board processing. By employing a time-slicing mechanism, a dynamic network topology is constructed according to the satellite constellation's operating cycle and link establishment rules. The gateway station pre-uploads the correspondence between time slices and network topology data to the satellite node storage. After receiving data, the satellite node autonomously calculates routes based on the network topology corresponding to the current time slice, using a shortest path algorithm to determine the next-hop forwarding node. Through the relay node's dynamic route recalculation mechanism, data is ensured to be transmitted to the target node along the optimal path. This method effectively solves the shortcomings of traditional technologies in terms of routing real-time performance, topology management, and on-board processing, significantly improving the performance of satellite communication networks. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart illustrating the on-board processing-based routing method in an embodiment of this application.

[0033] Figure 2 This is a structural diagram of the on-board processing-based routing device in the embodiments of this application;

[0034] Figure 3 This is a schematic diagram of the structure of the electronic device in the embodiments of this application.

[0035] Figure label:

[0036] Electronic device 9600, central processing unit 9100, memory 9140, communication module 9110, input unit 9120, audio processor 9130, display 9160, power supply 9170, buffer memory 9141, application / function storage unit 9142, data storage unit 9143, driver storage unit 9144, antenna 9111, speaker 9131, microphone 9132. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0038] The acquisition, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0039] To address the problems existing in current technologies, this application provides a routing method and apparatus based on on-board processing. By employing a time-slicing mechanism, a dynamic network topology is constructed according to the satellite constellation's operating cycle and link establishment rules. Gateway stations pre-upload the correspondence between time slices and network topology data to satellite node storage. After receiving data, satellite nodes autonomously calculate routes based on the network topology corresponding to the current time slice, using a shortest path algorithm to determine the next-hop forwarding node. Through a dynamic route recalculation mechanism in relay nodes, data is ensured to be transmitted to the target node along the optimal path. This method effectively solves the shortcomings of traditional technologies in terms of routing real-time performance, topology management, and on-board processing, significantly improving the performance of satellite communication networks.

[0040] To effectively address the shortcomings of traditional technologies in areas such as real-time routing, topology management, and on-board processing, and to significantly improve the performance of satellite communication networks, this application provides an embodiment of an on-board processing-based routing method. See [link to embodiment]. Figure 1 The routing method based on on-board processing specifically includes the following:

[0041] Step S101: The gateway station divides the orbital period of the satellite constellation into multiple time slices according to the orbital period and inter-satellite link establishment rules. Based on the real-time location information and link communication status of the satellite nodes, the gateway station constructs a network topology structure corresponding to each time slice. The network topology structure includes the connection relationship and link weight between the satellite nodes. The gateway station packages and uploads the correspondence data between the time slices and the network topology structure to the satellite nodes. The satellite nodes store the received correspondence data in the topology database.

[0042] Optionally, this embodiment innovatively designs a time-slice-based network topology management mechanism to address the dynamic characteristics of satellite constellation networks. The gateway station first obtains the orbital elements and operational parameters of the satellite constellation, including key parameters such as orbital inclination, right ascension of the ascending node, and mean anterior angle. Based on Kepler's orbital equations, the orbital period of the satellite nodes is calculated; for a typical low-Earth orbit satellite constellation, the orbital period is approximately 90-100 minutes. The gateway station then uses an adaptive time window division method to determine the granularity of the time slices based on the orbital period characteristics.

[0043] In this embodiment, the establishment constraints of inter-satellite links are given special consideration during the time slice division process. The rate of change of distance ΔD and the rate of change of angle ΔA between adjacent satellite nodes are calculated using the following formulas:

[0044] ΔD = |d(t+Δt) - d(t)| / Δt,

[0045] ΔA = |θ(t+Δt) - θ(t)| / Δt,

[0046] Where d(t) represents the distance between nodes at time t, θ(t) represents the angle at time t, and Δt is the sampling interval. The gateway station sets a maximum allowable rate of change threshold based on the tracking capability of the satellite antenna, and divides the time period with a rate of change less than the threshold into stable time slices.

[0047] This embodiment achieves accurate satellite position calculation. The gateway station, based on the J2000 inertial coordinate system, solves the satellite's motion equations using numerical integration. Considering the effects of perturbations such as the Earth's gravitational field and atmospheric drag, the three-dimensional position coordinates of each satellite node within each time slice are calculated. Simultaneously, the gateway station receives real-time telemetry data from the satellite and corrects the predicted orbit position to ensure the accuracy of the position information.

[0048] This embodiment constructs a complete network topology. The gateway station first calculates the effective communication range based on the communication equipment parameters of the satellite nodes, including antenna beamwidth, transmit power, and receive sensitivity. Combining satellite attitude information and antenna pointing, it determines whether the conditions for establishing an inter-satellite link are met between adjacent nodes. For node pairs that can establish an inter-satellite link, the gateway station calculates the link communication distance and considers factors such as spatial loss and Doppler effect, evaluating link quality indicators as weight values.

[0049] This embodiment innovatively designs the organization structure of topology data. The gateway station organizes the identifier information, start and end times, and corresponding network topology data of each time slice into a structured mapping relationship. A graph data structure is used to store the network topology, with node attributes including location coordinates and device status, and edge attributes including link weights and port configurations. The gateway station compresses and encodes the topology data to reduce the amount of data uploaded.

[0050] This embodiment optimizes the data uploading mechanism. The gateway station decomposes the topology data into data packets suitable for uplink transmission according to the satellite-to-ground communication protocol requirements. Each data packet contains a header, payload, and checksum information; the header carries a time slice identifier and sequence number. The gateway station ensures the complete delivery of data packets through a reliable transmission mechanism, retransmitting when necessary.

[0051] This embodiment achieves efficient data storage management. After receiving the uploaded data, the satellite node first performs data integrity verification and decoding. A topology database is established in the onboard memory, organizing the data using a combination of time and spatial indexes. The database supports fast time range queries and node relationship queries, facilitating subsequent route calculations.

[0052] This embodiment effectively solves the routing instability problem caused by dynamic changes in the topology of traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can accurately grasp the evolution law of network topology, providing a reliable data foundation for routing calculations. Especially in large-scale satellite constellation networking scenarios, the time-slice management mechanism significantly reduces the computational burden of topology maintenance.

[0053] The innovations of this embodiment are mainly reflected in the time-slicing strategy, topology construction method, and data management mechanism. Through meticulous spatiotemporal modeling and efficient data organization, dynamic management of the satellite network topology is achieved. This scheme provides strong support for improving the service quality of satellite communication networks and has significant practical value in the construction of space information networks.

[0054] Step S102: When the satellite node receives data that needs to be forwarded, the satellite node obtains the time slice at the current moment, reads the network topology structure corresponding to the current moment from the topology database, calculates the routing path of the data based on the shortest path algorithm, the routing path includes the sequence of all relay nodes from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node;

[0055] Optionally, this embodiment innovatively implements a dynamic routing control mechanism based on time slices. After receiving the data packet, the satellite node first obtains accurate Coordinated Universal Time (UTC) through its onboard atomic clock. Considering the motion characteristics of the satellite node, the UTC is converted into the orbital time of the satellite constellation using a normalization formula:

[0056] T = (UTC - T0) mod P,

[0057] Where T0 is the initial epoch time of the constellation, P is the orbital period, and the calculated result T represents the time within the current orbital period.

[0058] This embodiment designs an efficient time slice retrieval method. Satellite nodes use a binary search algorithm in the time index table of the topology database to quickly locate the time slice to which the current moment belongs. The index table is organized chronologically, and each entry contains a slice identifier, start and end times, and a status flag. By comparing the orbital running time with the slice time range, the currently active time slice is determined.

[0059] This embodiment optimizes the topology data reading strategy. Based on the time slice identifier, satellite nodes query the topology structure table to obtain the corresponding network topology information. To improve query efficiency, the topology data adopts a storage structure combining adjacency lists and adjacency matrices. The adjacency list records the connection relationships between nodes, facilitating traversal of adjacent nodes; the adjacency matrix stores link weights, supporting fast path calculation.

[0060] This embodiment implements a dynamic weight calculation method. The link weight W is calculated using a comprehensive evaluation function:

[0061] W = α D +β Q + γ L,

[0062] Where D is the link distance, Q is the link quality metric, L is the load level, and α, β, and γ are weighting coefficients. This method considers both physical transmission delay and the real-time status of the link, and can guide routing to avoid congested links.

[0063] This embodiment constructs an improved shortest path algorithm. Based on the Dijkstra algorithm framework, a heuristic search strategy is introduced to prioritize expanding paths more likely to lead to the target node. The algorithm maintains a priority queue, where the priority of each element is determined by both path cost and heuristic value. A pruning mechanism is used to reduce the search for invalid paths, thereby improving computational efficiency.

[0064] This embodiment innovatively designs a path evaluation mechanism. For the candidate paths obtained from the search, the system evaluates them from multiple dimensions. First, it checks the reliability of the path to ensure that all relay nodes are currently in normal working order. Then, it analyzes the stability of the path to assess whether the path will be disconnected due to node movement within the current time slice. Finally, it considers load balancing factors to avoid excessive overlap between the path and existing services.

[0065] This embodiment optimizes the next-hop selection strategy. The next network node directly connected to the current node is extracted from the calculated optimal routing path. The satellite node checks the inter-satellite link status with this node to verify if the link has sufficient transmission capacity. If the current link is unavailable, a backup path selection mechanism is activated, selecting a new next-hop node from the suboptimal path.

[0066] This embodiment implements a reliable data forwarding mechanism. Data packet encapsulation employs a layered structure, with the packet header carrying the destination node identifier, routing path information, and quality of service requirements. During forwarding, a sliding window protocol controls the data flow, dynamically adjusting the window size based on link quality. A selective retransmission mechanism is also implemented, retransmitting only lost data packets to improve transmission efficiency.

[0067] This embodiment effectively solves the problems of complex path calculation and poor real-time performance in traditional satellite routing through the above-mentioned technological innovations. In practical applications, this solution can quickly respond to changes in network topology and calculate stable and reliable routing paths. Especially in scenarios with large data traffic and variable network conditions, intelligent routing control significantly improves the success rate of data transmission.

[0068] The innovations of this embodiment are mainly reflected in time slice management, path algorithm optimization, and forwarding control. Through a series of technological innovations, efficient routing of satellite network data is achieved. This solution provides strong support for improving the service quality of satellite communication networks and has significant application value in the field of space information networks. The deployment of this technology significantly improves the service experience of satellite communications and lays a technical foundation for the construction of integrated space-air-ground networks.

[0069] Step S103: After receiving the data, the next-hop node recalculates the routing path of the data based on the network topology stored in the topology database. The next-hop node selects a new next-hop node to forward the data according to the calculated routing path until the data is transmitted to the target node.

[0070] Optionally, in this embodiment, after the satellite node receives the data packet to be forwarded, it first performs data packet parsing processing. The parsing process follows the inter-satellite communication protocol specifications, extracting routing control information from the data packet, including the destination node identifier, the original routing path sequence, and service data. The integrity of the data packet is ensured through cyclic redundancy check; for data packets that fail the check, the source node is required to retransmit.

[0071] This embodiment innovatively implements a real-time routing recalculation mechanism. Satellite nodes obtain precise Coordinated Universal Time (UTC) based on onboard atomic clocks, which is then converted into constellation operating time using orbital parameters. The time overhead Tc for routing calculation is estimated using the following formula:

[0072] Tc = Tp + Tr + Ts,

[0073] Where Tp is the path search time, Tr is the routing table update time, and Ts is the state synchronization time. By evaluating the computational overhead, it is ensured that the route update can be completed within the current time slice.

[0074] This embodiment optimizes the query efficiency of topology data. Satellite nodes retrieve the corresponding time slice identifier from the topology database based on their current operating time. A multi-level caching mechanism accelerates data access, with topology data for hot time slices cached in a fast storage device. A data prefetching mechanism is also implemented to preload topology information for the next time slice, avoiding query delays.

[0075] This embodiment employs an efficient path calculation strategy. Network structure information read from the topology database is converted into adjacency and weight matrices. To reduce computational complexity, a pruning algorithm is used to preprocess the topology graph, removing unreachable and low-quality links. During feasible path search, paths with high overlap with the original route are prioritized to reduce route oscillations.

[0076] This embodiment implements an innovative routing decision-making mechanism. In path cost calculation, factors such as link communication distance, channel quality, and node load are comprehensively considered. An optimal path is quickly located using a heuristic search method. For multiple candidate paths with similar path costs, the path with the highest overlap with the original route is selected as the new forwarding path.

[0077] This embodiment establishes a reliable data forwarding process. After determining a new routing path, the satellite node extracts the next-hop node information from the path sequence. Before forwarding, the link status with the next-hop node is checked, including indicators such as carrier lock status, signal-to-noise ratio, and bit error rate. Data forwarding is only performed if the link status meets the communication requirements.

[0078] This embodiment optimizes the access control of inter-satellite links. Satellite nodes update the routing information in data packets according to the new route path and send data through the corresponding inter-satellite link port. The transmission process employs adaptive power control and rate control, dynamically adjusting transmission parameters based on link quality. Link traffic management is also implemented to prevent overload of a single link.

[0079] This embodiment incorporates a complete transmission acknowledgment mechanism. Upon receiving a data packet, the target node first checks if its own identifier matches the target node's identifier. If a match is found, it parses the service data and returns a transmission completion acknowledgment message to the source node. The acknowledgment message is then transmitted in reverse along the original route, ensuring reliable end-to-end transmission.

[0080] This embodiment effectively solves the problems of delayed route updates and low transmission reliability in traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can promptly detect changes in network topology and dynamically optimize data transmission paths. Especially in scenarios with large constellations and heavy service loads, it significantly improves the quality of service through distributed routing computation and intelligent forwarding control.

[0081] The main innovations of this embodiment lie in the routing recalculation strategy, path optimization method, and transmission control mechanism. Through a series of algorithm optimizations and process improvements, efficient and reliable transmission of satellite network data is achieved. This solution provides technical support for enhancing the service capabilities of space information networks and has significant practical implications for the construction of satellite internet. The application of this technology significantly improves the data transmission efficiency and service quality of satellite communication networks, laying an important foundation for integrated space-air-ground information networks.

[0082] As described above, the on-board processing-based routing method provided in this application can construct a dynamic network topology based on the satellite constellation's operating cycle and link establishment rules by employing a time-slicing mechanism. The gateway station pre-uploads the correspondence data between time slices and network topology to the satellite node storage. After receiving data, the satellite node autonomously calculates routes based on the network topology corresponding to the current time slice, using a shortest path algorithm to determine the next-hop forwarding node. Through the relay node's dynamic route recalculation mechanism, data is ensured to be transmitted to the target node along the optimal path. This method effectively solves the shortcomings of traditional technologies in terms of routing real-time performance, topology management, and on-board processing, significantly improving the performance of satellite communication networks.

[0083] In one embodiment of the on-board processing-based routing method of this application, the method may further include the following:

[0084] Step S201: The gateway station calculates the distance change rate and the angle change rate between adjacent satellite nodes according to the orbital parameters of the satellite constellation, sets the maximum allowable change rate according to the inter-satellite link establishment rules, and divides the time period in the orbital cycle where the distance change rate and the angle change rate between adjacent satellite nodes are both less than the maximum allowable change rate into the time slice. The gateway station timestamps the time slice.

[0085] Step S202: The gateway station calculates the three-dimensional spatial coordinates of each satellite node in each time slice based on the inertial coordinate system. It determines whether adjacent satellite nodes can establish inter-satellite links based on the communication range and antenna pointing of the satellite nodes. The satellite nodes are designated as network nodes, and the inter-satellite links that can be established are designated as network edges. The communication distance of the inter-satellite links is calculated based on the position coordinates of the satellite nodes as the link weight. The network nodes, network edges, and link weights are combined to construct the network topology.

[0086] Optionally, this embodiment innovatively implements a spatiotemporal modeling method for satellite constellation networks. The gateway station first obtains the orbital elements of the constellation, including parameters such as semi-major axis, eccentricity, inclination, and right ascension of the ascending node. Based on the SGP4 orbit prediction model, the position and velocity vectors of the satellite nodes are calculated. The dynamic relationship between adjacent nodes is characterized by the distance change rate ΔD and the angle change rate ΔA.

[0087] ΔD = |V1 - V2|·R / |R| ,

[0088] Where V1 and V2 are nodal velocity vectors, and R is the inter-node position vector. The rate of change of the included angle is calculated using the time derivative of the relative attitude angle between the nodes.

[0089] This embodiment optimizes the time slice division strategy. Link establishment constraints are established based on the communication characteristics of inter-satellite links. Antenna tracking capability determines the maximum allowable angle change rate, and the Doppler compensation capability of the communication equipment limits the maximum allowable distance change rate. Based on these constraints, the gateway station searches for time intervals within its orbital period that satisfy the link establishment conditions and divides them into discrete time slices.

[0090] This embodiment designs an efficient timestamp encoding method. Each time slice adopts a hierarchical encoding structure, including orbital period number, slice sequence number, and time range information. The encoding format design takes into account the constellation's operational characteristics, supporting fast time positioning and range lookup. Simultaneously, compressed storage of the encoded data is implemented to reduce data transmission overhead.

[0091] This embodiment implements a precise spatial positioning mechanism. In the J2000 inertial coordinate system, the gateway station calculates the three-dimensional position of the satellite node using orbital dynamics equations. The effects of perturbations such as the Earth's non-spherical gravitational field, solar radiation pressure, and atmospheric drag are considered to improve orbit prediction accuracy. Simultaneously, orbit corrections are performed using positioning data from the onboard GPS receiver.

[0092] This embodiment constructs a complete link visibility analysis method. Based on the position coordinates of satellite nodes, the line-of-sight vector between nodes is calculated. Combining the satellite platform attitude and antenna beam characteristics, it is determined whether adjacent nodes meet the communication conditions. The link visibility analysis considers the influence of environmental factors such as Earth shading and solar interference.

[0093] This embodiment optimizes the network topology construction process. Satellite nodes that meet communication requirements are mapped as network nodes, and inter-satellite links that can be established are mapped as network edges. Node attributes include information such as location coordinates and device status, while edge attributes include parameters such as communication distance and link quality. Graph theory methods are used to analyze the network's connectivity and robustness.

[0094] This embodiment innovatively designs a link weight calculation method. Based on the communication distance D between nodes and the link quality index Q, the comprehensive weight W is calculated using the following formula:

[0095] W = α D +β Q,

[0096] α and β are dynamic adjustment coefficients. Communication distance affects transmission delay, while link quality reflects communication reliability. The weight calculation fully considers the physical characteristics and communication performance of the inter-satellite link.

[0097] This embodiment implements a dynamic network topology update mechanism. The gateway station monitors the status changes of satellite nodes in real time, including positional deviations and equipment failures. When a node's status changes significantly, the link visibility and communication performance of the affected area are reassessed, and the network topology is updated accordingly.

[0098] This embodiment effectively solves the problems of unstable topology and difficulty in link establishment in traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can accurately describe the dynamic evolution of network topology, providing a reliable decision-making basis for routing control. Especially in large-scale constellation networking scenarios, through precise spatiotemporal modeling and topology management, it significantly improves network connectivity and quality of service.

[0099] The innovations of this embodiment are mainly reflected in the spatiotemporal modeling method, link analysis strategy, and topology management mechanism. Through a series of algorithm optimizations and process improvements, efficient management of satellite network topology is achieved. This solution provides technical support for improving the service capabilities of space information networks and has significant practical implications for satellite internet construction. The application of this technology significantly improves the networking efficiency and service performance of satellite communication networks, laying a crucial foundation for the construction of integrated space-air-ground networks.

[0100] In one embodiment of the on-board processing-based routing method of this application, the method may further include the following:

[0101] Step S301: The gateway station establishes a mapping relationship between the identification information of each time slice and the corresponding network topology. The mapping relationship includes the start and end times of the time slice, the spatial location information of the network node, the connection status of the network edge, and the link weight. The gateway station performs packet encoding on the mapping relationship data according to the satellite-to-ground communication protocol, and sends the encoded data packets to the satellite node through the uplink established between the ground gateway station and the satellite node.

[0102] Step S302: After receiving the data packet, the satellite node decodes it, extracts the mapping relationship between the time slice and the network topology, creates a time index table and a topology table in the topology database, writes the time slice information into the time index table, writes the network topology into the topology table, and establishes the association between the time index table and the topology table.

[0103] Optionally, this embodiment designs an innovative topology data organization structure. The gateway station establishes a bidirectional mapping between the identifier information of each time slice and the network topology, and stores the topology information in a hierarchical structure. The organization structure of the mapping table R is expressed as follows:

[0104] R = {T, N, E, W}

[0105] Where T is the time slice descriptor, which includes the start and end times and the validity period; N is the set of node attributes, which includes the location coordinates and status markers; E is the set of edges, which describes the connection relationships between nodes; and W is the weight matrix, which stores the link communication performance parameters.

[0106] This embodiment optimizes the data encoding mechanism. Based on the requirements of the satellite-to-ground communication protocol, the gateway station converts the mapping relationship data into a binary stream. The encoding adopts the TLV (Type-Length-Value) format to ensure the scalability of the data structure. For large-scale topology data, layered compression encoding is implemented to reduce transmission overhead. Simultaneously, a checksum field is added to the data packets to ensure transmission reliability.

[0107] This embodiment implements an efficient data packet segmentation strategy. Considering uplink bandwidth limitations and transmission latency, the encoded data is divided into appropriately sized data packets. Each data packet contains a common header and a payload; the header carries the packet sequence number, timestamp, and checksum information. A sliding window protocol is used to control data transmission flow, ensuring that the receiving end can correctly reassemble the data.

[0108] This embodiment establishes a reliable uplink transmission mechanism. The gateway station calculates the optimal communication period in advance based on satellite transit forecasts. During link establishment, adaptive power control and coding modulation are employed to ensure signal quality. An automatic retransmission request mechanism is implemented during transmission to retransmit lost or erroneous data packets.

[0109] This embodiment innovatively designs a data decoding process. After receiving the data packet, the satellite node first performs integrity verification and reassembly. The decoding process adopts a state machine design, sequentially parsing the packet header information, time slice data, and topology data. The decoding result undergoes format conversion to generate a data structure that is easy to store and query.

[0110] This embodiment optimizes the database design. The topology database adopts a dual-table structure: a time index table stores slice information, and a topology structure table stores the network structure. The index table is organized in chronological order, supporting fast range queries. The structure table uses a graph database model to efficiently store node relationships and link attributes. The two tables are linked through slice identifiers.

[0111] This embodiment implements an efficient data writing mechanism. Satellite nodes write the decoded time slice information into an index table, with each record containing a slice identifier, start and end times, and status flags. When writing topology data into the structure table, a batch insertion strategy is used to improve efficiency. Concurrency control is implemented during the writing process to ensure data consistency.

[0112] This embodiment designs a complete data verification process. After the database write is completed, the system automatically performs a consistency check. This verifies the continuity of time slices, checks the integrity of the topology, and ensures the correct association between the index table and the structure table. For any detected abnormal data, a retransmission request is sent to the gateway station.

[0113] This embodiment constructs a two-table join query mechanism. A mapping relationship is established between the two tables using time slice identifiers, supporting efficient join queries. The query optimizer can select the optimal query path based on the specific scenario, balancing query performance and resource consumption.

[0114] This embodiment effectively solves the problems of complex topology data management and low query efficiency in traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can efficiently store and manage network topology information, providing rapid data support for routing calculations. Especially in scenarios with large-scale networks and frequent topology changes, the optimized data organization and management mechanism significantly improves system response speed.

[0115] The innovations of this embodiment are mainly reflected in data structure design, transmission control, and storage management. Through a series of optimized designs, efficient transmission and management of satellite network topology data are achieved. This solution provides technical support for improving the service capabilities of space information networks and has significant practical implications for the construction of satellite internet. The application of this technology significantly improves the data processing efficiency of satellite communication networks, laying an important foundation for integrated space-air-ground networks.

[0116] In one embodiment of the on-board processing-based routing method of this application, the method may further include the following:

[0117] Step S401: The satellite node obtains the current Coordinated Universal Time (UTC) according to the onboard clock, converts the UTC into the orbital operating time of the satellite constellation, retrieves the time range of the orbital operating time from the time index table, extracts the corresponding time slice identifier information, and combines the time slice identifier information with the source node identifier and target node identifier in the data packet for encoding.

[0118] Step S402: The satellite node queries the topology table in the topology database according to the time slice identifier information, reads the network topology corresponding to the time slice, and extracts the spatial location information of the network node, the connection status of the network edge and the link weight from the network topology to generate an adjacency matrix containing node connection relationships and a weight matrix containing link communication costs.

[0119] Optionally, this embodiment incorporates a precise time management mechanism. The rubidium atomic clocks mounted on the satellite nodes provide a highly stable time reference and are periodically calibrated via the GPS timing system. The formula for converting Coordinated Universal Time (UTC) to orbital time T is as follows:

[0120] T = (UTC - T0) mod P + ΔT ,

[0121] Where T0 is the initial epoch time of the constellation, P is the orbital period, and ΔT is the time correction term, which includes the effects of orbital perturbations and relativistic effects.

[0122] This embodiment optimizes the time retrieval strategy. The track running time is quickly located in the time index table using a binary search algorithm. The index table is organized using a range tree structure, supporting efficient range queries. Each index entry contains the start and end times of the time slice, a validity flag, and an access counter, facilitating caching optimization.

[0123] This embodiment implements an innovative identifier encoding method. The combined encoding C of the time slice identifier and the source and target node identifiers is constructed as follows:

[0124] C = f(Ts, Ns, Nd),

[0125] Where Ts is the time slice identifier, Ns is the source node identifier, Nd is the target node identifier, and f is the encoding function. The encoding structure ensures the uniqueness of the search key while supporting partial matching queries.

[0126] This embodiment constructs an efficient topology query mechanism. The corresponding network structure is retrieved from the topology database based on the combined encoding. The query process employs a multi-level caching strategy, caching frequently accessed topology data in a fast storage device. Simultaneously, a prefetching mechanism is implemented to preload topology information for the next time slice.

[0127] This embodiment optimizes the data extraction process. It extracts node location coordinates, connection status, and link weights from the topology. Location information is represented using an inertial coordinate system, connection status includes link availability and port configuration, and link weights reflect communication performance indicators. The data extraction process implements parallel processing, improving processing efficiency.

[0128] This embodiment innovatively designs a matrix generation method. The adjacency matrix A describes the connection relationships between nodes:

[0129] A[i,j] = {1, there is a link 0 between nodes i and j, otherwise}

[0130] The cost of storing the weight matrix W in the link communication:

[0131] W[i,j] = {w, link weights between nodes i and j, ∞, other cases}

[0132] The matrix uses a sparse storage format to reduce storage overhead.

[0133] This embodiment implements a dynamic matrix update mechanism. When a change in network topology is detected, the system quickly updates the affected matrix elements. The update process uses an incremental approach, modifying only the changed parts. Simultaneously, matrix consistency is maintained, ensuring the correct correspondence between adjacency relationships and weight values.

[0134] This embodiment designs a complete anomaly handling process. Anomaly detection and fault tolerance are implemented during time retrieval and data extraction. When timestamp anomalies, data loss, or other issues occur, the system automatically triggers a repair mechanism. For unrecoverable anomalies, a data retransmission request is sent to the ground gateway station.

[0135] This embodiment effectively solves the problems of slow topology data retrieval and low processing efficiency in traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can quickly and accurately obtain the current network status, providing real-time support for routing decisions. Especially in scenarios with large-scale networks and frequent topology changes, the optimized data processing mechanism significantly improves the system response speed.

[0136] The innovations of this embodiment are mainly reflected in time management, data retrieval, and matrix generation. Through a series of algorithm optimizations and process improvements, efficient processing of satellite network topology data is achieved. This solution provides technical support for enhancing the service capabilities of space information networks and has significant practical implications for the construction of satellite internet. The application of this technology significantly improves the data processing efficiency of satellite communication networks, laying an important foundation for integrated space-air-ground networks.

[0137] In one embodiment of the on-board processing-based routing method of this application, the method may further include the following:

[0138] Step S501: The satellite node determines all reachable paths between the source node and the target node based on the adjacency matrix, calculates the sum of the weight matrix elements corresponding to the network edges traversed by each path as the path cost, and determines the path with the minimum path cost as the routing path based on Dijkstra's shortest path algorithm. The satellite node extracts the next network node directly connected to the current node from the routing path as the next hop node.

[0139] Step S502: The satellite node encapsulates the target node identifier, the routing path information, and the service data according to the inter-satellite communication protocol based on the inter-satellite link port number corresponding to the next-hop node in the adjacency matrix. The satellite node establishes a communication link with the next-hop node through the inter-satellite link port and sends the encapsulated data packet to the next-hop node through the communication link.

[0140] Optionally, this embodiment innovatively designs a path search algorithm. Based on network connectivity analysis using the adjacency matrix, an improved depth-first search method is employed to explore all reachable paths. A pruning strategy is introduced during the path search process, terminating the search when the cost of a searched path exceeds the current optimal solution. The time complexity of the search algorithm is significantly improved through heuristic optimization.

[0141] This embodiment optimizes the path cost calculation method. The total path cost C is calculated using the following formula:

[0142] C = Σ(Wi,j Ki,j),

[0143] Where Wi,j represents the link weight between adjacent nodes i,j on the path, and Ki,j is the correction coefficient. The correction coefficient takes into account dynamic factors such as link load and latency jitter, making the path selection more in line with actual communication needs.

[0144] This embodiment implements an improved Dijkstra's algorithm. It introduces a bidirectional search strategy based on the traditional Dijkstra's algorithm, starting the search from both the source and target nodes simultaneously. A priority queue is implemented using a Fibonacci heap, reducing the overhead of update operations. The algorithm dynamically updates the shortest path estimates of the nodes in each iteration.

[0145] This embodiment constructs an efficient routing mechanism. After determining the shortest path, the system analyzes the stability and reliability of the path. Historical data is used to evaluate the path's lifetime, avoiding the selection of links that are about to fail. Load balancing factors are also considered to prevent congestion on hotspot links. When extracting the next-hop node from the optimal path, the current state of that node is verified.

[0146] This embodiment designs a complete data encapsulation process. Based on the inter-satellite communication protocol specification, a layered data packet structure is constructed. The application layer encapsulates service data, the network layer adds routing control information, including target node identifiers, routing path sequences, and quality of service requirements. The transport layer implements a reliable transmission mechanism, and the link layer handles physical transmission.

[0147] This embodiment optimizes the port management strategy. The link port number corresponding to the next-hop node is obtained from the adjacency matrix. The system maintains a port status table, recording the port's operating status, data throughput, and error rate. Port allocation considers load balancing to avoid overloading any single port. A port backup mechanism is also implemented to support failover.

[0148] This embodiment implements a reliable link establishment process. Before establishing a communication link with the next-hop node, a link status check is performed first. The communication readiness status of both parties is confirmed by exchanging control messages. A three-way handshake mechanism is used to establish the link, ensuring that the parameter configurations of both communicating parties are consistent.

[0149] This embodiment constructs an efficient data transmission mechanism. The data packet transmission process employs a sliding window protocol, with the window size dynamically adjusted based on link quality. A selective retransmission mechanism is implemented, retransmitting only lost data packets. The link status is continuously monitored during transmission, and transmission parameters are adjusted promptly when a deterioration in link quality is detected.

[0150] This embodiment effectively solves the problems of unreasonable routing and unreliable data transmission in traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can quickly calculate the optimal routing path and ensure reliable data transmission. Especially in scenarios with heavy network load and variable link states, the optimized routing and transmission control significantly improve the quality of service of the network.

[0151] The innovations of this embodiment are mainly reflected in path calculation, data encapsulation, and transmission control. Through a series of algorithm optimizations and mechanism improvements, efficient and reliable transmission of satellite network data is achieved. This scheme provides technical support for enhancing the service capabilities of space information networks and has significant practical implications for the construction of satellite internet. The application of this technology significantly improves the data transmission performance of satellite communication networks, laying an important foundation for the construction of integrated space-air-ground networks.

[0152] In one embodiment of the on-board processing-based routing method of this application, the method may further include the following:

[0153] Step S601: After receiving the data packet, the next-hop node decapsulates it, extracts the target node identifier and original route path information from the data packet, obtains the current Coordinated Universal Time and converts it into orbital running time, queries the corresponding time slice from the topology database according to the orbital running time, reads the network topology structure corresponding to the time slice and generates a new adjacency matrix and weight matrix;

[0154] Step S602: The next-hop node takes itself as the new source node, calculates all reachable paths to the target node based on the new adjacency matrix and the new weight matrix, and compares the overlap between each reachable path and the original route path. Under the condition that the path costs are similar, the next-hop node preferentially selects the path with a higher overlap with the original route path as the new route path.

[0155] Optionally, this embodiment innovatively implements a data packet decapsulation mechanism. After receiving the data packet, the next-hop node parses it step by step according to the protocol layering structure. First, a link layer verification is performed to ensure data integrity. The network layer extracts routing control information, including the destination node identifier and the routing path sequence. The application layer obtains service data to prepare for subsequent processing.

[0156] This embodiment designs a precise time synchronization method. The next-hop node obtains Coordinated Universal Time (UTC) via a spaceborne atomic clock, and the time synchronization accuracy is evaluated using the following formula:

[0157] ΔT = |TUTC - Tref| + δ

[0158] Where TUTC is the local time, Tref is the reference time, and δ is the drift correction term. The system periodically calibrates the atomic clock using GPS signals to ensure the accuracy of the time reference.

[0159] This embodiment optimizes the topology data query process. After converting UTC to orbital running time, a caching-accelerated query strategy is adopted. A two-level caching structure is designed, with topology data for hot time slices cached in a fast storage device. The query process incorporates the principle of temporal locality to improve cache hit rate.

[0160] This embodiment implements an efficient matrix generation method. Based on the queried network topology, it simultaneously constructs new adjacency matrices and weight matrices. Matrix generation employs a parallel processing mechanism, making full use of hardware computing resources. An incremental update strategy is also introduced, recalculating only the changed matrix elements.

[0161] This embodiment constructs an innovative path calculation strategy. The current node is set as the new source node, and a bidirectional breadth-first search algorithm is used to explore all reachable paths. During the search process, a path cost table is maintained to record the cumulative cost of discovered paths. A pruning strategy is used to reduce the search space and improve computational efficiency.

[0162] This embodiment designs a path overlap evaluation method. The path overlap R is calculated using the following formula:

[0163] R = Nc / Nt,

[0164] Where Nc is the number of nodes that overlap with the original route path, and Nt is the total number of nodes in the path. The overlap assessment considers the continuity of the node sequence, with consecutive overlapping segments having higher weights.

[0165] This embodiment optimizes the path selection mechanism. Under the condition of similar path costs, the overlap of different paths is compared. A cost difference threshold ε is set; when the difference in path costs is less than ε, the path with higher overlap is prioritized. This strategy ensures both path optimization and reduces routing oscillations.

[0166] This embodiment implements a path verification mechanism. For candidate new routing paths, the system analyzes their reliability and stability. The verification process considers factors such as link status and node load to ensure that the selected path has sufficient transmission capacity. Simultaneously, the path's lifetime is evaluated to avoid selecting paths that are about to fail.

[0167] This embodiment effectively solves the problems of untimely route updates and frequent path jitter in traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can quickly respond to changes in network status and calculate the optimal routing path. Especially in scenarios where satellite nodes move at high speeds and topology changes frequently, the optimized path selection strategy significantly improves routing stability.

[0168] The innovations of this embodiment are mainly reflected in data processing, path calculation, and selection strategies. Through a series of algorithm optimizations and mechanism improvements, dynamic optimization of satellite network routing is achieved. This scheme provides technical support for improving the service capabilities of space information networks and has significant practical implications for the construction of satellite internet. The application of this technology significantly improves the routing performance of satellite communication networks, laying an important foundation for integrated space-air-ground networks.

[0169] In one embodiment of the on-board processing-based routing method of this application, the method may further include the following:

[0170] Step S701: The next-hop node extracts the network node directly connected to the current node from the new routing path as the new next-hop node. The next-hop node checks the inter-satellite link communication status of the new next-hop node. If the inter-satellite link communication status is normal, the next-hop node updates the routing path information in the data packet and sends the updated data packet to the new next-hop node through the corresponding inter-satellite link port.

[0171] Step S702: After receiving the data packet, the new next-hop node determines whether it is the target node. If it is not the target node, it repeats the process of recalculating the routing path and forwarding data. If it is the target node, it parses the service data in the data packet to complete the data transmission. The target node returns a confirmation message of data transmission completion to the source node.

[0172] Optionally, this embodiment innovatively designs a next-hop node selection mechanism. Network nodes directly connected to the current node are extracted from the new routing path sequence, and node selection employs a priority evaluation method. Priority P is calculated using the following formula:

[0173] P = α Q +β L + γ S,

[0174] Where Q is the link quality metric, L is the load level, S is the state stability, and α, β, and γ are weighting coefficients. This method comprehensively considers both link performance and node state.

[0175] This embodiment implements comprehensive link status checks. The system monitors multiple key parameters of the inter-satellite link, including carrier lock status, signal-to-noise ratio, bit error rate, and link margin. Link status assessment employs a fuzzy comprehensive decision method to determine link availability based on the real-time values ​​of each parameter. When a link performance degradation is detected, a backup path switching mechanism is triggered.

[0176] This embodiment optimizes the data packet update strategy. Before forwarding data packets, the system updates routing control information, including the sequence of nodes already visited and remaining path information. The update process uses incremental encoding, modifying only the fields that have changed, reducing processing overhead. Simultaneously, a path integrity checksum is maintained to ensure the correctness of the routing information.

[0177] This embodiment establishes a reliable data forwarding mechanism. The system optimizes transmission parameter configuration based on the characteristics of the inter-satellite link. An adaptive coding and modulation scheme is employed, dynamically adjusting coding efficiency and modulation order according to link quality. A flow control mechanism is implemented to prevent link congestion. Simultaneously, it supports packet fragmentation and reassembly to adapt to different link bandwidth conditions.

[0178] This embodiment designs an intelligent target node determination process. After receiving the data packet, the new next-hop node first compares its own identifier with the target node identifier. The determination process considers various forms of node identifiers, including physical addresses and logical addresses. An authentication mechanism ensures that the data packet is delivered to the correct target node.

[0179] This embodiment optimizes the business data parsing method. The target node uses a layered parsing strategy to process the received data packets. First, integrity verification is performed to ensure that the data is not corrupted. Then, the business data is parsed according to the protocol specifications to extract the payload. The parsing process is implemented in parallel, improving processing efficiency.

[0180] This embodiment implements an innovative acknowledgment mechanism. The target node generates a transmission completion acknowledgment message, which includes a data packet identifier, a reception timestamp, and a processing status code. A reliable reverse transmission mechanism is employed to ensure that the acknowledgment message reaches the source node. If the source node does not receive an acknowledgment within the timeout period, a retransmission mechanism is triggered.

[0181] This embodiment establishes a complete exception handling process. During data transmission, the system continuously monitors the execution status of each stage. When an exception is detected, corresponding handling measures are taken according to the exception type. For temporary failures, the operation is retried; for permanent failures, a backup plan is activated.

[0182] This embodiment effectively solves the problems of unreliable data transmission and difficulty in end-to-end confirmation in traditional satellite networks through the above-mentioned technological innovations. In practical applications, this solution can guarantee reliable data transmission and provide end-to-end transmission status feedback. Especially in scenarios with changing link states and complex transmission environments, the optimized transmission control and confirmation mechanisms significantly improve the quality of service of the network.

[0183] The innovations of this embodiment are mainly reflected in node selection, data transmission, and confirmation mechanisms. Through a series of technical optimizations, efficient and reliable transmission of satellite network data is achieved. This solution provides technical support for improving the service capabilities of space information networks and has significant practical implications for the construction of satellite internet. The application of this technology significantly improves the transmission performance and reliability of satellite communication networks, laying an important foundation for integrated space-air-ground networks.

[0184] This implementation, when deployed in a satellite communication network, effectively improves data transmission success rate and service quality, making it particularly suitable for service scenarios with high reliability requirements. Through end-to-end transmission control and status confirmation, it provides reliable communication guarantees for upper-layer applications, promoting the development and application of satellite internet technology.

[0185] To effectively address the shortcomings of traditional technologies in areas such as real-time routing, topology management, and on-board processing, and to significantly improve the performance of satellite communication networks, this application provides an embodiment of an on-board processing-based routing apparatus for implementing all or part of the aforementioned on-board processing-based routing method. See [link to embodiment]. Figure 2 The on-board processing-based routing device specifically includes the following components:

[0186] The network topology module 10 is used by the gateway station to divide the orbital period of the satellite constellation into multiple time slices according to the orbital period and inter-satellite link establishment rules. Based on the real-time location information and link communication status of the satellite nodes, the gateway station constructs a network topology structure corresponding to each time slice. The network topology structure includes the connection relationship and link weight between the satellite nodes. The gateway station packages and uploads the correspondence data between the time slice and the network topology structure to the satellite nodes. The satellite nodes store the received correspondence data in the topology database.

[0187] The path determination module 20 is used to, when the satellite node receives data that needs to be forwarded, obtain the time slice in which the satellite node is currently located, read the network topology structure corresponding to the current time from the topology database, calculate the routing path of the data based on the shortest path algorithm, the routing path includes the sequence of all relay nodes passed from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node;

[0188] The inter-satellite routing module 30 is used to recalculate the routing path of the data based on the network topology stored in the topology database after the next-hop node receives the data. The next-hop node then selects a new next-hop node to forward the data according to the calculated routing path until the data is transmitted to the target node.

[0189] As described above, the on-board processing-based routing device provided in this application can construct a dynamic network topology based on the satellite constellation's operating cycle and link establishment rules by employing a time-slicing mechanism. The gateway station pre-uploads the correspondence data between time slices and network topology to the satellite node storage. After receiving data, the satellite node autonomously calculates routes based on the network topology corresponding to the current time slice, using a shortest path algorithm to determine the next-hop forwarding node. Through the relay node's dynamic route recalculation mechanism, data is ensured to be transmitted to the target node along the optimal path. This method effectively solves the shortcomings of traditional technologies in terms of routing real-time performance, topology management, and on-board processing, significantly improving the performance of satellite communication networks.

[0190] From a hardware perspective, in order to effectively address the shortcomings of traditional technologies in terms of real-time routing, topology management, and on-board processing, and significantly improve the performance of satellite communication networks, this application provides an embodiment of an electronic device for implementing all or part of the on-board processing-based routing method. The electronic device specifically includes the following components:

[0191] The system comprises a processor, memory, a communications interface, and a bus; wherein the processor, memory, and communications interface communicate with each other via the bus; the communications interface is used to realize information transmission between the on-board processing-based routing device and core business systems, user terminals, and related databases and other related devices; the logic controller can be a desktop computer, tablet computer, or mobile terminal, etc., and this embodiment is not limited to these. In this embodiment, the logic controller can be implemented with reference to the embodiments of the on-board processing-based routing method and the on-board processing-based routing device in the embodiments, the content of which is incorporated herein, and repeated details will not be described again.

[0192] It is understood that the user terminal may include smartphones, tablet computers, network set-top boxes, portable computers, desktop computers, personal digital assistants (PDAs), in-vehicle devices, smart wearable devices, etc. Among these, the smart wearable devices may include smart glasses, smartwatches, smart bracelets, etc.

[0193] In practical applications, the routing method based on satellite processing can be partially executed on the electronic device side as described above, or all operations can be completed in the client device. The choice can be made based on the processing power of the client device and the limitations of the user's usage scenario. This application does not impose any limitations on this. If all operations are completed in the client device, the client device may further include a processor.

[0194] The aforementioned client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side; in other implementation scenarios, it may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, a server cluster consisting of multiple servers, or a distributed server structure.

[0195] Figure 3 This is a schematic block diagram illustrating the system configuration of the electronic device 9600 according to an embodiment of this application. Figure 3 As shown, the electronic device 9600 may include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It is worth noting that... Figure 3 This is an example; other types of structures can also be used to supplement or replace this structure to achieve telecommunications functions or other functions.

[0196] In one embodiment, the on-board processing-based routing method functionality can be integrated into the central processing unit 9100. The central processing unit 9100 can be configured to perform the following control:

[0197] Step S101: The gateway station divides the orbital period of the satellite constellation into multiple time slices according to the orbital period and inter-satellite link establishment rules. Based on the real-time location information and link communication status of the satellite nodes, the gateway station constructs a network topology structure corresponding to each time slice. The network topology structure includes the connection relationship and link weight between the satellite nodes. The gateway station packages and uploads the correspondence data between the time slices and the network topology structure to the satellite nodes. The satellite nodes store the received correspondence data in the topology database.

[0198] Step S102: When the satellite node receives data that needs to be forwarded, the satellite node obtains the time slice at the current moment, reads the network topology structure corresponding to the current moment from the topology database, calculates the routing path of the data based on the shortest path algorithm, the routing path includes the sequence of all relay nodes from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node;

[0199] Step S103: After receiving the data, the next-hop node recalculates the routing path of the data based on the network topology stored in the topology database. The next-hop node selects a new next-hop node to forward the data according to the calculated routing path until the data is transmitted to the target node.

[0200] As described above, the electronic device provided in this application employs a time-slicing mechanism to construct a dynamic network topology based on the satellite constellation's operating cycle and link establishment rules. The gateway station pre-uploads the correspondence data between time slices and network topology to the satellite node storage. After receiving data, the satellite node autonomously calculates routes based on the network topology corresponding to the current time slice, using a shortest path algorithm to determine the next-hop forwarding node. Through the relay node's dynamic route recalculation mechanism, data is ensured to be transmitted to the target node along the optimal path. This method effectively solves the shortcomings of traditional technologies in terms of real-time routing, topology management, and on-board processing, significantly improving the performance of satellite communication networks.

[0201] In another embodiment, the on-board processing routing device can be configured separately from the central processing unit 9100. For example, the on-board processing routing device can be configured as a chip connected to the central processing unit 9100, and the on-board processing routing method function can be implemented through the control of the central processing unit.

[0202] like Figure 3 As shown, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily need to include these components. Figure 3 All components shown; in addition, the electronic device 9600 may also include Figure 3 For components not shown, please refer to existing technologies.

[0203] like Figure 3 As shown, the central processing unit 9100, sometimes also referred to as a controller or operating control, may include a microprocessor or other processor device and / or logic device, which receives inputs and controls the operation of various components of the electronic device 9600.

[0204] The memory 9140 may be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It may store the aforementioned failure-related information, and also store a program for executing that information. The central processing unit 9100 may execute the program stored in the memory 9140 to perform information storage or processing, etc.

[0205] Input unit 9120 provides input to central processing unit 9100. Input unit 9120 may be, for example, a keypad or touch input device. Power supply 9170 provides power to electronic device 9600. Display 9160 displays images and text. Display may be, for example, an LCD display, but is not limited thereto.

[0206] The memory 9140 can be a solid-state memory, such as a read-only memory (ROM), random access memory (RAM), a SIM card, etc. It can also be a memory that retains information even when power is off, can be selectively erased, and contains more data; examples of this type of memory are sometimes referred to as EPROMs. The memory 9140 can also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142 for storing application programs and function programs or processes for executing the operation of the electronic device 9600 via the central processing unit 9100.

[0207] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various drivers for the electronic device for communication functions and / or for performing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0208] The communication module 9110 is a transmitter / receiver that sends and receives signals via the antenna 9111. The communication module 9110 (transmitter / receiver) is coupled to the central processing unit 9100 to provide input signals and receive output signals, which is the same as in a conventional mobile communication terminal.

[0209] Based on different communication technologies, multiple communication modules 9110 can be configured in the same electronic device, such as cellular network modules, Bluetooth modules, and / or wireless LAN modules. The communication module 9110 (transmitter / receiver) is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby realizing typical telecommunications functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. Additionally, the audio processor 9130 is coupled to a central processing unit 9100, enabling on-device recording via the microphone 9132 and on-device playback of stored audio via the speaker 9131.

[0210] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the on-board processing-based routing method with a server or client as the execution subject in the above embodiments. The computer-readable storage medium stores a computer program that, when executed by a processor, implements all steps of the on-board processing-based routing method with a server or client as the execution subject in the above embodiments. For example, when the processor executes the computer program, it implements the following steps:

[0211] Step S101: The gateway station divides the orbital period of the satellite constellation into multiple time slices according to the orbital period and inter-satellite link establishment rules. Based on the real-time location information and link communication status of the satellite nodes, the gateway station constructs a network topology structure corresponding to each time slice. The network topology structure includes the connection relationship and link weight between the satellite nodes. The gateway station packages and uploads the correspondence data between the time slices and the network topology structure to the satellite nodes. The satellite nodes store the received correspondence data in the topology database.

[0212] Step S102: When the satellite node receives data that needs to be forwarded, the satellite node obtains the time slice at the current moment, reads the network topology structure corresponding to the current moment from the topology database, calculates the routing path of the data based on the shortest path algorithm, the routing path includes the sequence of all relay nodes from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node;

[0213] Step S103: After receiving the data, the next-hop node recalculates the routing path of the data based on the network topology stored in the topology database. The next-hop node selects a new next-hop node to forward the data according to the calculated routing path until the data is transmitted to the target node.

[0214] As described above, the computer-readable storage medium provided in this application constructs a dynamic network topology based on the satellite constellation's operating cycle and link establishment rules using a time-slicing mechanism. The gateway station pre-uploads the correspondence data between time slices and network topology to the satellite node storage. After receiving data, the satellite node autonomously calculates routes based on the network topology corresponding to the current time slice, using a shortest path algorithm to determine the next-hop forwarding node. Through the relay node's dynamic route recalculation mechanism, data is ensured to be transmitted to the target node along the optimal path. This method effectively solves the shortcomings of traditional technologies in terms of routing real-time performance, topology management, and on-board processing, significantly improving the performance of satellite communication networks.

[0215] Embodiments of this application also provide a computer program product capable of implementing all steps of the on-board processing-based routing method described above, where the execution subject is a server or client. When executed by a processor, this computer program / instruction implements the steps of the on-board processing-based routing method. For example, the computer program / instruction implements the following steps:

[0216] Step S101: The gateway station divides the orbital period of the satellite constellation into multiple time slices according to the orbital period and inter-satellite link establishment rules. Based on the real-time location information and link communication status of the satellite nodes, the gateway station constructs a network topology structure corresponding to each time slice. The network topology structure includes the connection relationship and link weight between the satellite nodes. The gateway station packages and uploads the correspondence data between the time slices and the network topology structure to the satellite nodes. The satellite nodes store the received correspondence data in the topology database.

[0217] Step S102: When the satellite node receives data that needs to be forwarded, the satellite node obtains the time slice at the current moment, reads the network topology structure corresponding to the current moment from the topology database, calculates the routing path of the data based on the shortest path algorithm, the routing path includes the sequence of all relay nodes from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node;

[0218] Step S103: After receiving the data, the next-hop node recalculates the routing path of the data based on the network topology stored in the topology database. The next-hop node selects a new next-hop node to forward the data according to the calculated routing path until the data is transmitted to the target node.

[0219] As described above, the computer program product provided in this application constructs a dynamic network topology based on the satellite constellation's operating cycle and link establishment rules by employing a time-slicing mechanism. The gateway station pre-uploads the correspondence data between time slices and network topology to the satellite node storage. After receiving data, the satellite node autonomously calculates routes based on the network topology corresponding to the current time slice, using a shortest path algorithm to determine the next-hop forwarding node. Through the relay node's dynamic route recalculation mechanism, data is ensured to be transmitted to the target node along the optimal path. This method effectively solves the shortcomings of traditional technologies in terms of real-time routing, topology management, and on-board processing, significantly improving the performance of satellite communication networks.

[0220] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0221] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0222] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0223] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0224] Specific embodiments have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A routing method based on on-board processing, characterized in that, The method comprises: The gateway station calculates the distance change rate and the angle change rate between adjacent satellite nodes according to the running track parameters of the satellite constellation, sets the maximum allowable change rate according to the inter-satellite link building rule, divides the time period in which the distance change rate and the angle change rate of adjacent satellite nodes are less than the maximum allowable change rate into time slices in the running track period, constructs the network topology structure corresponding to each time slice based on the real-time position information and the link communication state of the satellite nodes, the network topology structure comprises the connection relationship and the link weight between the satellite nodes, the gateway station establishes the mapping relationship between the identification information of each time slice and the corresponding network topology structure, the mapping relationship comprises the start and end time of the time slice, the spatial position information of the network node, the connection state of the network edge and the link weight, the gateway station packages and encodes the mapping relationship data according to the satellite-ground communication protocol, and sends the encoded data packet to the satellite node through the uplink established between the ground gateway station and the satellite node; The satellite node decodes the data packet after receiving the data packet, extracts the mapping relationship between the time slice and the network topology structure, creates a time index table and a topology structure table in the topology database, writes the time slice information into the time index table, and writes the network topology structure into the topology structure table, and the satellite node establishes the association relationship between the time index table and the topology structure table; When the satellite node receives data that needs to be forwarded, the satellite node obtains the time slice in which the current time is located, reads the network topology structure corresponding to the current time from the topology database, calculates the routing path of the data based on the shortest path algorithm, the routing path comprises all relay node sequences from the satellite node to the target node, the satellite node determines the next hop node according to the routing path, and sends the data through the inter-satellite link established with the next hop node; The next hop node unpacks the data packet after receiving the data packet, extracts the target node identifier and the original routing path information in the data packet, and returns a transmission completion confirmation message to the source node through the original routing path in the case that the identity identifier of the next hop node and the target node identifier in the data packet match, and if they do not match, the next hop node converts the current world coordinate time into the track running time, the next hop node queries the corresponding time slice from the topology database according to the track running time, reads the network topology structure corresponding to the time slice and generates a new adjacency matrix and a weight matrix, the next hop node takes itself as a new source node, and calculates all reachable paths to the target node based on the new adjacency matrix and the new weight matrix. The next hop node compares the coincidence degree of each reachable path with the original routing path, and under the condition that the difference in path cost is less than a preset cost difference threshold, the path with a coincidence degree higher than a threshold with the original routing path is selected as a new routing path, and the next hop node forwards the data according to the calculated routing path to select a new next hop node until the data is transmitted to the target node, wherein the calculation process of the routing path includes obtaining a link state evaluation by a fuzzy comprehensive judgment based on monitoring key parameters of an inter-satellite link, determining link availability according to real-time values of the key parameters, triggering backup routing path switching when detecting a decline in link performance, and the key parameters include carrier lock state, signal-to-noise ratio, bit error rate, and link margin.

2. The on-board processing based routing method according to claim 1, c h a r a c t e r i z e d b y The network topology structure corresponding to each time slice is constructed based on real-time position information of the satellite nodes and communication states of the links, and the network topology structure includes connection relationships between the satellite nodes and link weights, including: The gateway station calculates three-dimensional spatial position coordinates of each satellite node in each time slice based on an inertial coordinate system, determines whether adjacent satellite nodes can establish an inter-satellite link according to communication ranges and antenna pointing directions of the satellite nodes, takes the satellite nodes as network nodes and the inter-satellite links that can be established as network edges, calculates communication distances of the inter-satellite links as link weights based on position coordinates of the satellite nodes, and combines the network nodes, the network edges, and the link weights to construct the network topology structure.

3. The on-board processing based routing method according to claim 1, wherein, When the satellite node receives data that needs to be forwarded, the satellite node acquires the time slice in which the current time is located, reads the network topology structure corresponding to the current time from the topology database, including: The satellite node acquires the current universal time based on an on-board clock, converts the universal time into an orbital running time of a satellite constellation, retrieves a time range in which the orbital running time is located in the time index table, extracts corresponding time slice identification information, and combines and encodes the time slice identification information with source node identification and target node identification in a data packet. The satellite node queries the topology structure table in the topology database according to the time slice identification information, reads the network topology structure corresponding to the time slice, extracts spatial position information of the network nodes, connection states of the network edges, and the link weights from the network topology structure, and generates an adjacency matrix containing node connection relationships and a weight matrix containing link communication costs.

4. The on-board processing based routing method according to claim 3, c h a r a c t e r i z e d b y The routing path of the data is calculated based on a shortest path algorithm, the routing path includes a sequence of all relay nodes from the satellite node to a target node, the satellite node determines a next hop node according to the routing path, and sends the data through an inter-satellite link established with the next hop node, including: The satellite node determines all paths reachable between the source node and the target node according to the adjacency matrix, calculates the sum of the weight matrix elements corresponding to the network edges passed by each path as the path cost, and determines the path with the minimum path cost as the routing path based on the Dijkstra shortest path algorithm. The satellite node extracts the next network node directly connected to the current node from the routing path as the next hop node. The satellite node encapsulates the target node identification of the data, the routing path information, and the service data according to the inter-satellite communication protocol according to the inter-satellite link port number corresponding to the next hop node in the adjacency matrix. The satellite node establishes a communication link with the next hop node through the inter-satellite link port, and sends the encapsulated data packet to the next hop node through the communication link.

5. The on-board processing based routing method according to claim 4, c h a r a c t e r i z e d b y The next hop node selects a new next hop node to forward the data according to the calculated routing path until the data is transmitted to the target node, including: The next hop node extracts the network node directly connected to the current node from the new routing path as the new next hop node, checks the inter-satellite link communication state of the new next hop node, and if the inter-satellite link communication state is normal, updates the routing path information in the data packet and sends the updated data packet to the new next hop node through the corresponding inter-satellite link port. The new next hop node receives the data packet and determines whether it is the target node. If it is the target node, it parses the service data in the data packet to complete data transmission. The target node returns confirmation information of data transmission completion to the source node.

6. A routing device based on on-board processing, characterized in that The device comprises: The network topology module is configured to calculate the distance change rate and the angle change rate between adjacent satellite nodes according to the orbit parameters of the satellite constellation, set the maximum allowable change rate according to the inter-satellite link establishment rules, divide the time period in which the distance change rate and the angle change rate of adjacent satellite nodes are less than the maximum allowable change rate into time slices, construct the network topology structure corresponding to each time slice based on the real-time position information and the link communication state of the satellite nodes, and encode the mapping relationship data according to the ground-satellite communication protocol. The satellite node receives the data packet, decodes the data packet, extracts the mapping relationship between the time slice and the network topology structure, creates a time index table and a topology structure table in a topology database, writes the time slice information into the time index table, and writes the network topology structure into the topology structure table, and establishes an association between the time index table and the topology structure table; The path determination module is configured to, when the satellite node receives data to be forwarded, acquire a time slice in which the satellite node is currently located, read the network topology structure corresponding to the current time from the topology database, calculate a routing path of the data based on a shortest path algorithm, the routing path including a sequence of all relay nodes from the satellite node to a target node, determine a next-hop node according to the routing path, and send the data through an inter-satellite link established with the next-hop node; The inter-satellite routing module is configured to, when the next-hop node receives the data packet, unpack the data packet, extract a target node identifier and original routing path information in the data packet, and return a transmission completion acknowledgement message to a source node through the original routing path if the identity of the next-hop node matches the target node identifier in the data packet, otherwise, convert a current world coordinated time into an orbital running time, query the time slice corresponding to the orbital running time from the topology database, read the network topology structure corresponding to the time slice, generate a new adjacency matrix and weight matrix, take itself as a new source node, calculate all reachable paths to the target node based on the new adjacency matrix and the new weight matrix, and select a path with a higher degree of coincidence with the original routing path as a new routing path if a difference in path cost is less than a preset threshold. The next-hop node compares the degree of coincidence of each reachable path with the original routing path, and selects a path with a degree of coincidence higher than a threshold as a new routing path if a difference in path cost is less than a preset threshold, selects a new next-hop node according to the calculated routing path to forward the data, and continues until the data is transmitted to the target node, wherein the calculation process of the routing path includes obtaining a link state evaluation through fuzzy comprehensive judgment based on monitoring key parameters of an inter-satellite link, determining link availability according to real-time values of the key parameters, triggering a backup routing path switching when a link performance is detected to be degraded, and the key parameters include a carrier lock state, a signal-to-noise ratio, a bit error rate, and a link margin.

7. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps of the routing method based on on-board processing according to any one of claims 1 to 5.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the routing method based on on-board processing according to any one of claims 1 to 5.

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