Data forwarding method and device, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a data forwarding method and device, electronic equipment, a storage medium and a program product. The method comprises the following steps: receiving a data packet forwarding request, wherein the data packet forwarding request comprises a target data packet; determining an equipment type of the first satellite, wherein the equipment type is a gateway type or a non-gateway type; determining a plurality of target link states according to the device type, the plurality of target link states being a satellite-ground link SGL state and / or an inter-satellite link ISL state; and according to the target link state, determining a target device, and sending the target data packet to the target device, the target device being a ground relay device or a second satellite. According to the scheme, the ground relay device is introduced, and compared with only using a satellite, additional transmission path selection can be provided, so that routing is optimized, and communication efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a data forwarding method, device, electronic device, storage medium and program product. Background Art

[0002] In the field of satellite network communications, communication satellites have the characteristics of low path loss, flexible paths, and strong anti-destruction capabilities. In specific areas, such as remote areas or areas with harsh natural environments, satellite network communications have better communication quality.

[0003] In the related art, communication data packets are transmitted from a source satellite to a target satellite through multiple satellites and inter-satellite links between satellites to achieve satellite network communication.

[0004] However, when a satellite fails or is congested, the number of hops from the source satellite to the target satellite increases, resulting in low communication efficiency. Summary of the invention

[0005] The embodiments of the present application provide a data forwarding method, an apparatus, an electronic device, a storage medium, and a program product to improve communication efficiency.

[0006] In a first aspect, an embodiment of the present application provides a data forwarding method, which is applied to a first satellite, and the method includes: receiving a data packet forwarding request, the data packet forwarding request includes a target data packet; determining a device type of the first satellite, the device type being a gateway type or a non-gateway type; determining a plurality of target link states according to the device type, the plurality of target link states being a satellite-to-ground link SGL state and / or an inter-satellite link ISL state; determining a target device according to the target link state, and sending the target data packet to the target device, the target device being a ground relay device or a second satellite.

[0007] In one possible implementation, the device type is a non-gateway type; based on the device type, multiple target link states are determined, including: determining multiple intersatellite links to be selected corresponding to the first satellite, and multiple satellites to be selected; determining multiple link delay information corresponding to the multiple intersatellite links to be selected, multiple load information corresponding to the multiple satellites to be selected, and multiple transmission rate information corresponding to the multiple satellites to be selected; and calculating and processing the multiple link delay information, multiple load information, and multiple transmission rate information through a fuzzy reasoning method to obtain multiple target link states corresponding to the multiple satellites to be selected.

[0008] In a possible implementation, the multiple link delay information, multiple load information, and multiple transmission rate information are calculated and processed by a fuzzy reasoning method to obtain multiple target link states corresponding to the multiple selected satellites, including: calculating and processing the multiple link delay information, multiple load information, and multiple transmission rate information by a fuzzy reasoning method to obtain multiple initial strategy information corresponding to the multiple selected satellites; determining multiple initial benefit functions corresponding to the multiple initial strategy information by preset weights; and adjusting the multiple initial benefit functions by an equilibrium game model until a Nash equilibrium is reached to obtain multiple target strategy information corresponding to the multiple selected satellites.

[0009] In a possible implementation, the device type is a gateway type; according to the device type, a plurality of target link states are determined, including: determining a plurality of candidate links corresponding to the first satellite, the plurality of candidate links being inter-satellite links and / or satellite-to-ground links; determining a plurality of link delay information, a plurality of load information, and a plurality of bandwidth information corresponding to the plurality of candidate links; and calculating and processing the plurality of link delay information, the plurality of load information, and the plurality of bandwidth information through a fuzzy reasoning method to obtain a plurality of target link states corresponding to the plurality of candidate links.

[0010] In a possible implementation, the data packet forwarding request also includes a source satellite position and a target satellite position; determining a target device based on the target link state includes: determining a target coordinate map based on the source satellite position and the target satellite position, the target coordinate map including a plurality of candidate nodes, the plurality of candidate nodes including a source satellite, a target satellite, and a plurality of intermediate nodes, any of which is a satellite or a ground relay device; determining the target device based on the target link state and the target coordinate map.

[0011] In a possible implementation, determining a target coordinate map based on the source satellite position and the target satellite position includes: determining a target range of the target coordinate map based on the source satellite position and the target satellite position; determining multiple intermediate node positions within the target range, and determining the target coordinate map based on the multiple intermediate node positions.

[0012] In a possible implementation, the target device is determined according to the target link state and the target coordinate map, including: determining a reference number of hops and a reference delay according to the target coordinate map and a routing algorithm; determining the target device according to the target link state, the reference number of hops, and the reference delay.

[0013] In a possible implementation, a reference hop number and a reference delay are determined according to the target coordinate map and the routing algorithm, including: determining a coordinate difference between the source satellite position and the target satellite position, determining a first hop number according to the target coordinate map and the coordinate difference, the first hop number being the number of satellites passed from the source satellite to the target satellite; inputting the target coordinate map into the routing algorithm to obtain a second hop number, the second hop number being the total number of ground relay devices and satellites passed from the source satellite to the target satellite; determining the reference hop number to be the first hop number or the second hop number; determining multiple inter-satellite link delays corresponding to the multiple candidate nodes; and inputting the multiple inter-satellite link delays and the target coordinate map into the routing algorithm to obtain the reference delay.

[0014] In a second aspect, an embodiment of the present application provides a data forwarding device, which is applied to a first satellite, and the device includes: a receiving module, used to receive a data packet forwarding request, and the data packet forwarding request includes a target data packet; a determination module, used to determine the device type of the first satellite, and the device type is a gateway type or a non-gateway type; a calculation module, used to determine a plurality of target link states according to the device type, and the plurality of target link states are a satellite-to-ground link SGL state and / or an inter-satellite link ISL state; a sending module, used to determine a target device according to the target link state, and send the target data packet to the target device, and the target device is a ground relay device or a second satellite.

[0015] In one possible implementation, the device type is a non-gateway type; the calculation module is specifically used to determine multiple intersatellite links to be selected corresponding to the first satellite, and multiple satellites to be selected; the calculation module is also specifically used to determine multiple link delay information corresponding to the multiple intersatellite links to be selected, multiple load information corresponding to the multiple satellites to be selected, and multiple transmission rate information corresponding to the multiple satellites to be selected; the calculation module is also specifically used to calculate and process the multiple link delay information, multiple load information, and multiple transmission rate information through a fuzzy reasoning method to obtain multiple target link states corresponding to the multiple satellites to be selected.

[0016] In a possible implementation, the calculation module is specifically used to calculate and process the multiple link delay information, multiple load information, and the multiple transmission rate information through a fuzzy reasoning method to obtain multiple initial strategy information corresponding to the multiple selected satellites; the calculation module is also specifically used to determine multiple initial benefit functions corresponding to the multiple initial strategy information through preset weights; the calculation module is also specifically used to adjust the multiple initial benefit functions through an equilibrium game model until a Nash equilibrium is reached to obtain multiple target strategy information corresponding to the multiple selected satellites.

[0017] In a possible implementation, the device type is a gateway type; the calculation module is specifically used to determine multiple candidate links corresponding to the first satellite, and the multiple candidate links are inter-satellite links and / or satellite-to-ground links; the calculation module is specifically used to determine multiple link delay information, multiple load information, and multiple bandwidth information corresponding to the multiple candidate links; the calculation module is specifically used to calculate and process the multiple link delay information, multiple load information, and multiple bandwidth information through a fuzzy reasoning method to obtain multiple target link states corresponding to the multiple candidate links.

[0018] In a possible implementation, the data packet forwarding request also includes a source satellite position and a target satellite position; the device also includes: a processing module, used to determine a target coordinate map based on the source satellite position and the target satellite position, the target coordinate map including multiple candidate nodes, the multiple candidate nodes including a source satellite, a target satellite, and multiple intermediate nodes, any intermediate node being a satellite or a ground relay device; the processing module is also used to determine the target device based on the target link state and the target coordinate map.

[0019] In a possible implementation, the processing module is specifically used to determine a target range of a target coordinate map based on the source satellite position and the target satellite position; the processing module is also specifically used to determine a plurality of intermediate node positions within the target range, and determine the target coordinate map based on the plurality of intermediate node positions.

[0020] In a possible implementation, the apparatus further includes: an execution module, configured to determine a reference number of hops and a reference delay based on the target coordinate map and a routing algorithm; and the execution module, configured to determine the target device based on the target link state, the reference number of hops, and the reference delay.

[0021] In a possible implementation, the execution module is specifically used to determine the coordinate difference between the source satellite position and the target satellite position, and determine a first hop number based on the target coordinate map and the coordinate difference, wherein the first hop number is the number of satellites passed from the source satellite to the target satellite; the execution module is also specifically used to input the target coordinate map into the routing algorithm to obtain a second hop number, wherein the second hop number is the total number of ground relay devices and satellites passed from the source satellite to the target satellite; the execution module is also specifically used to determine that the reference hop number is the first hop number or the second hop number; the execution module is also specifically used to determine multiple inter-satellite link delays corresponding to the multiple candidate nodes; the execution module is also specifically used to input the multiple inter-satellite link delays and the target coordinate map into the routing algorithm to obtain the reference delay.

[0022] In a third aspect, an embodiment of the present application provides a data forwarding device, including: a memory, a processor;

[0023] The memory stores computer-executable instructions;

[0024] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0025] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0026] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0027] The data forwarding method, device, electronic device, storage medium and program product provided by the embodiments of the present application include: receiving a data packet forwarding request, the data packet forwarding request includes a target data packet; determining the device type of the first satellite, the device type is a gateway type or a non-gateway type; according to the device type, determining multiple target link states, the multiple target link states are satellite-to-ground link SGL states and / or inter-satellite link ISL states; according to the target link states, determining the target device, and sending the target data packet to the target device, the target device is a ground relay device or a second satellite. The above scheme introduces a ground relay device, which can provide additional transmission path options compared to using only satellites, thereby optimizing routing and improving communication efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0029] Figure 1 A schematic diagram of an application scenario of a data forwarding method provided in an embodiment of the present application;

[0030] Figure 2 A flowchart of a data forwarding method provided in an embodiment of the present application;

[0031] Figure 3 A flowchart of a data forwarding method provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of a satellite for determining a gateway type provided in an embodiment of the present application;

[0033] Figure 5 A schematic diagram of determining a target device provided in an embodiment of the present application;

[0034] Figure 6 A schematic diagram of calculating the first hop count provided in an embodiment of the present application;

[0035] Figure 7 A schematic diagram of the structure of a data forwarding device provided in an embodiment of the present application;

[0036] Figure 8 A schematic diagram of the structure of a data forwarding device provided in an embodiment of the present application;

[0037] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0038] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0040] It should be noted that the data forwarding method, device, electronic device, storage medium and program product of the present application can be used in the field of communication technology, and can also be used in any field other than communication technology. The application field of the data forwarding method, device, electronic device, storage medium and program product of the present application is not limited.

[0041] Figure 1 A schematic diagram of an application scenario of a data forwarding method provided for an embodiment of the present application is given by way of example in combination with the illustrated scenario: in satellite network communications, a process in which a ground relay device 1 sends a data packet to a ground relay device 2 may include: the ground relay device 1 sends a data packet to a source satellite 3, forwards the data packet to a target satellite 4 via multiple satellites, and the target satellite 4 sends a data packet to the ground relay device 2.

[0042] In the related art, the transmission of data packets between the source satellite and the target satellite is only achieved through satellites. Data packets are transmitted between satellites through inter-satellite links. Inter-Satellite Link (ISL) is a communication link between satellites, allowing data to be transmitted directly between satellites.

[0043] For example, during the transmission of a data packet between a source satellite and a target satellite, the data packet is forwarded through multiple satellites. Each forwarding corresponds to one hop. The number of forwardings is the same as the number of hops. The number of hops can measure the length of the transmission path. The more forwardings, that is, the more hops, the longer the path of data packet transmission is, and the lower the corresponding communication efficiency is. At the same time, each execution of data packet forwarding requires the satellite to make a decision, which takes time. Therefore, the more hops, the more time it takes to transmit.

[0044] In practical applications, if the satellite on the shortest path for data packet transmission is damaged or congested, the transmission path needs to be re-determined. The new transmission path will increase the number of hops compared to the shortest path, resulting in low communication efficiency.

[0045] The data forwarding method provided in this application is intended to solve the above technical problems of related technologies.

[0046] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0047] Figure 2 A flow chart of a data forwarding method provided in an embodiment of the present application, the method comprising the following steps:

[0048] S201. Receive a data packet forwarding request, where the data packet forwarding request includes a target data packet.

[0049] The target data packet is a data packet that needs to be transmitted, and the data packet forwarding request is used to instruct to forward the target data packet to the target satellite.

[0050] The first satellite is the satellite that currently receives the target data packet.

[0051] In combination with the scenario example, in the process of forwarding a data packet to a target satellite, the data packet passes through multiple satellites in sequence and is forwarded by multiple satellites. The first satellite is the satellite where the target data packet is currently located.

[0052] S202: Determine a device type of the first satellite, where the device type is a gateway type or a non-gateway type.

[0053] Exemplarily, a gateway-type satellite is a satellite connected to both a satellite and a ground relay device, and a non-gateway-type satellite is a satellite connected only to a satellite.

[0054] Combined with the scenario example, in the related art, data packet forwarding is achieved through non-gateway type satellites. Since non-gateway type satellites are only connected to satellites, when determining the next hop node for forwarding data packets, the optional range of nodes is small. This application introduces gateway type satellites. When determining the next hop node for forwarding data packets, both satellites and ground relay devices can be selected, thereby increasing the optional range of nodes, and then a shorter data packet transmission path can be selected.

[0055] S203: Determine multiple target link states according to the device type.

[0056] The multiple target link states are satellite-ground link (SGL) states and / or inter-satellite link (ISL) states.

[0057] Exemplarily, data packets are transmitted between the satellite and the ground relay device via a satellite-to-ground link. The satellite-to-ground link includes an uplink and a downlink. The uplink is a signal sent by the ground relay station to the satellite through a transmitting antenna. After the signal is modulated and encoded, it is transmitted to the satellite in the form of radio waves or lasers. After receiving the signal, the satellite demodulates and decodes it to recover the data packet. The downlink is a data packet sent by the satellite to the ground relay device.

[0058] Optionally, the target link state is an evaluation score of the link. The link is evaluated from multiple dimensions through the evaluation score, and the priority of the link is determined through the evaluation score, so as to quantify the link quality.

[0059] S204: Determine a target device according to multiple target link states, and send a target data packet to the target device, where the target device is a ground relay device or a second satellite.

[0060] Optionally, the multiple target link states are current link states of multiple links corresponding to the first satellite.

[0061] Optionally, the target link status is updated in real time.

[0062] Combined with the scenario example, determining the target device based on the real-time updated target link status can effectively avoid real-time satellite damage or congestion, select devices and links with better transmission quality, and thus improve the efficiency of data forwarding.

[0063] The data forwarding method provided in the embodiment of the present application receives a data packet forwarding request, the data packet forwarding request includes a target data packet; determines the device type of the first satellite, the device type is a gateway type or a non-gateway type; determines multiple target link states according to the device type, the multiple target link states are satellite-to-ground link SGL states and / or inter-satellite link ISL states; determines the target device according to the target link state, and sends a target data packet to the target device, the target device is a ground relay device or a second satellite. The above scheme introduces a ground relay device, which can provide additional transmission path options compared to using only satellites, thereby optimizing routing and improving communication efficiency.

[0064] Based on any of the above embodiments, Figure 3 , the detailed process of data forwarding is explained.

[0065] Figure 3 A flow chart of a data forwarding method provided in an embodiment of the present application. Figure 3 As shown, the method includes:

[0066] S301. Receive a data packet forwarding request, where the data packet forwarding request includes a target data packet.

[0067] It should be noted that the execution process of S301 refers to S201 and will not be repeated here.

[0068] S302: Determine a device type of the first satellite, where the device type is a gateway type or a non-gateway type.

[0069] It should be noted that the execution process of S302 refers to S202 and will not be repeated here.

[0070] S303: Determine multiple target link states according to the device type.

[0071] A feasible implementation method, if the device type is a non-gateway type, multiple target link states can be determined by the following method: determine multiple candidate intersatellite links and multiple candidate satellites corresponding to the first satellite; determine multiple link delay information corresponding to the multiple candidate intersatellite links, multiple load information corresponding to the multiple candidate satellites, and multiple transmission rate information corresponding to the multiple candidate satellites; calculate and process the multiple link delay information, multiple load information, and multiple transmission rate information through a fuzzy reasoning method to obtain multiple target link states corresponding to the multiple candidate satellites.

[0072] Optionally, the first satellite establishes candidate inter-satellite links with multiple candidate satellites respectively.

[0073] Optionally, the first satellite establishes four permanent inter-satellite links with four adjacent satellites, and the corresponding relationship between the first satellite and the four satellites is stored. A plurality of satellites to be selected can be accurately determined through the corresponding relationship.

[0074] Optional, link delay information The link delay may be included, where the link delay is the ratio of the distance between the first satellite and the selected satellite to the data packet transmission speed.

[0075] Optionally, the load information can be calculated using the following formula:

[0076]

[0077] Wherein, M(t) represents the load information of the candidate satellite at the current moment, and M(t-1) represents the load information of the candidate satellite at the previous moment. Indicates the data packet receiving rate (MB / s), that is, the rate at which the selected satellite receives data packets from the previous hop satellite. Indicates the data processing rate (MB / s), that is, the rate at which the selected satellite processes and compresses data packets, that is, the amount of data processed per second. Indicates the data transmission rate (MB / s), that is, the rate at which the selected satellite sends data packets.

[0078] Optionally, the target link state is a fuzzy value obtained through fuzzy reasoning, and the target link state can reflect the state of each candidate satellite as a whole to make decisions on forwarding data packets from multiple dimensions.

[0079] In this feasible implementation, the target link status determined by integrating multiple dimensions can fully reflect the status of the selected satellite, thereby improving the accuracy of data packet forwarding.

[0080] A feasible implementation method can perform fuzzy reasoning through the following method: through the fuzzy reasoning method, multiple link delay information, multiple load information, and multiple transmission rate information are calculated and processed to obtain multiple initial strategy information corresponding to multiple candidate satellites; through preset weights, multiple initial benefit functions corresponding to the multiple initial strategy information are determined; through the equilibrium game model, the multiple initial benefit functions are adjusted and processed until the Nash equilibrium is reached, and multiple target strategy information corresponding to the multiple candidate satellites is obtained.

[0081] Exemplarily, the state of the candidate satellite is fuzzified, and for any candidate satellite, three input variables are determined: the load information is fuzzified into "low load", "medium load", and "high load"; the link delay information is fuzzified into "low delay", "medium delay", and "high delay"; the transmission rate information is fuzzified into "low processing", "medium processing", and "high processing". The triangular membership function in fuzzy logic is defined as follows:

[0082]

[0083] Among them, x is the input value (such as load, delay, etc.), a, b, c are the parameters that define the triangular membership function, representing the left endpoint, vertex, and right endpoint of the triangular function, respectively. is the membership degree of x, which takes values ​​between [0,1], indicating the degree to which x belongs to the fuzzy set. After fuzzifying these input variables through triangular membership functions, the fuzzy set is obtained.

[0084] Optionally, a fuzzy rule is established based on the link delay information, the load information, and the transmission rate information to evaluate the situation of the selected satellite. The rule can be designed as follows: Rule 1: If the load information is "high load" and the link delay information is "high delay", the corresponding fuzzy information is "low". Rule 2: If the load information is "medium load" and the link delay is "low delay", the corresponding fuzzy information is "high". Rule 3: If the load information is "low load" and the transmission rate information is "high processing", the corresponding fuzzy information is "high".

[0085] Next, the initial strategy information is calculated through the Mamdani reasoning of the fuzzy inference system. The specific initial strategy information is obtained by defuzzification through the averaging method. , It can be a specific score, which represents the state of satellite i. The specific process is as follows:

[0086] (1) Calculate the activation strength of each rule: For each fuzzy rule, take the minimum value of the input variable membership as the activation strength of the rule. , if, M(t) is "high load", is "high latency" and R(t) is "low processing", then is low, its activation intensity Calculated as:

[0087]

[0088] (2) Calculate output membership: Based on the activation strength of the rule , the output membership function is "truncated". That is, the value of the output membership function of each rule is limited to the activation intensity For the rules Output membership function , the membership degree after truncation is:

[0089]

[0090] in, is the output variable The membership function of .

[0091] (3) Synthesize fuzzy output: Take the maximum value of the truncated membership function of all rules to synthesize the final fuzzy output. The fuzzy membership of is:

[0092]

[0093] Finally, the averaging method is used for defuzzification, and the centroids of all fuzzy outputs are averaged to obtain a specific score. Assume that the support interval of the membership function of the fuzzy output is , and the membership values ​​at these points are , then the defuzzification formula of the average method is:

[0094]

[0095] in, is a point in the support range. Yes The membership degree at the point is calculated by weighted averaging all the supporting points of the fuzzy output using the above formula. The weighted value is the membership degree, and the result is the score of satellite i. .

[0096] Obtain the scores of each satellite in the next hop through fuzzy reasoning After that, the game theory optimization load strategy is executed. In the game theory optimization strategy adopted in this application, each satellite adjusts its strategy under the game framework and achieves a balanced effect by maximizing its own benefit function. Each node continuously adjusts its strategy in a dynamic environment until a Nash equilibrium is reached. The specific process is as follows:

[0097] First, an equilibrium game model is established: each satellite is regarded as a game participant, and the game goal is to optimize the load distribution of the network by selecting an appropriate transmission strategy. Make a preliminary strategy selection. Define the profit function: The profit function of each satellite Considering the load, delay and transmission rate R(t), the revenue function of satellite i can be defined as:

[0098]

[0099] Among them, α, β, and γ are weight coefficients used to adjust the impact of link delay information, load information, and transmission rate information on satellite revenue. The goal of the revenue function is to allow the satellite to achieve a higher transmission rate while avoiding excessive load and delay.

[0100] Then, a load balancing game model is constructed. Each satellite i calculates the initial load state M(t), link delay and transmission rate R(t), and randomly selects an initial strategy Under the initial strategy, the benefit of each satellite is calculated according to the benefit function After calculating the payoff, each satellite observes the status and payoff of its neighboring satellites and decides whether to adjust its strategy. The satellite will choose a new strategy. , making new revenue Compared to current income When the revenue function of each satellite no longer changes significantly, that is, the revenue function When a stable state is reached, that is, the satellite cannot obtain higher returns by changing its strategy alone, the game reaches a Nash equilibrium:

[0101]

[0102] The system reaches Nash equilibrium, and after the allocation is stable, the next-hop satellite is obtained. The satellite can perform data packet forwarding according to the optimal strategy determined by the game.

[0103] In this feasible implementation, by combining fuzzy reasoning and game theory optimization, dynamic path selection, load balancing, resource optimization and transmission efficiency improvement can be achieved in complex links, and ultimately Nash equilibrium can be achieved, thereby optimizing target strategy information and improving communication efficiency.

[0104] A feasible implementation method, if the device type is a non-gateway type, multiple target link states can be determined by the following method: determine multiple candidate links corresponding to the first satellite, the multiple candidate links are inter-satellite links and / or satellite-to-ground links; determine multiple link delay information, multiple load information, and multiple bandwidth information corresponding to the multiple candidate links; calculate and process the multiple link delay information, multiple load information, and multiple bandwidth information through a fuzzy reasoning method to obtain multiple target link states corresponding to the multiple candidate links.

[0105] Optionally, the target link state of the first satellite of the gateway type is determined by fuzzy reasoning and an equilibrium game model.

[0106] Exemplarily, determining the target link state may include the following steps: first, using fuzzy reasoning to evaluate the link state between the first satellite and the ground relay device, including link delay, link load, and link bandwidth, etc., and then deriving a downlink score according to the fuzzy rule. At the same time, the intersatellite link transmission status is evaluated to obtain the intersatellite link score After obtaining the fuzzy scores, the first satellite substitutes the two link scores into the profit function and determines whether to use the inter-satellite link or the satellite-to-ground link through the game model.

[0107] For the first satellite of the gateway type, the revenue function It is used to measure the benefits of selecting different links, including factors such as link delay, link load and link bandwidth occupancy. The intersatellite link benefit function can be expressed by the following formula:

[0108]

[0109] The satellite-to-ground link revenue function can be expressed by the following formula:

[0110]

[0111] in, and They represent the loads of the intersatellite link and the satellite-to-ground link respectively; and denote the delays of intersatellite link and satellite-to-ground link respectively; and Respectively represent the link bandwidth occupancy of the inter-satellite link and the satellite-to-ground link.

[0112] Then, make a strategy choice: If , then choose to forward through ground relay equipment, otherwise choose to forward through intersatellite link.

[0113] Optionally, in a dynamic network, the first satellite will periodically recalculate the fuzzy logic score , Update the current profit function. The first satellite will re-evaluate the profit each time it forwards and dynamically adjust the forwarding strategy.

[0114] Finally, when the first satellite plays a game with its neighboring satellites, the condition for determining the Nash equilibrium is that the current profit function reaches a local optimum, that is, the satellite cannot obtain higher profits by changing its current strategy. The Nash equilibrium condition can be:

[0115]

[0116]

[0117] That is, when the strategy selected by the first satellite maximizes the profit function, the Nash equilibrium is reached, and the target link state is determined at this time.

[0118] In this feasible implementation, by combining fuzzy reasoning and game theory optimization, dynamic path selection, load balancing, resource optimization and transmission efficiency improvement can be achieved in complex links, and ultimately Nash equilibrium can be achieved, thereby optimizing target strategy information and improving communication efficiency.

[0119] S304: Determine a target range of the target coordinate map according to the source satellite position and the target satellite position.

[0120] The target coordinate map includes multiple nodes to be selected, and the multiple nodes to be selected include a source satellite, a target satellite, and multiple intermediate nodes, wherein any intermediate node is a satellite or a ground relay device.

[0121] The data packet forwarding request includes a source satellite position and a target satellite position.

[0122] Optionally, a target coordinate system is determined according to the source satellite position and the target satellite position, and a target range of the target coordinate map is determined from the target coordinate system.

[0123] Optionally, the target coordinate system is a two-dimensional Cartesian coordinate system. Each node in a two-dimensional Cartesian coordinate system can be uniquely represented by a pair of real coordinates (x, y).

[0124] Exemplarily, a suitable coordinate system origin and unit length are determined according to the source satellite position and the target satellite position, and a target coordinate system is constructed according to the origin and the unit length to ensure that the target coordinate system can cover the source satellite and the target satellite.

[0125] Optionally, according to the source satellite position and the target satellite position, the source satellite and the target satellite are placed at two ends of a rectangular diagonal in the target coordinate system, and the rectangular range is determined as the target range.

[0126] Based on the above implementation, the target range is determined according to the source satellite position and the rectangle divided by the target satellite position, and only the intermediate nodes are determined within the target range. This can control the number of valid intermediate nodes, thereby effectively reducing the computational overhead of the routing algorithm.

[0127] S305: Determine multiple intermediate node positions within the target range, and determine a target coordinate graph according to the multiple intermediate node positions.

[0128] Exemplarily, the two-dimensional coordinates of the satellite and the two-dimensional coordinates of the ground relay device are determined based on their relative positions to the origin of the target coordinate system, and a target coordinate map is generated based on the two-dimensional coordinates of the satellite and the two-dimensional coordinates of the ground relay device.

[0129] In combination with the scenario example, if the elevation angle between any satellite within the communication range of a ground relay device and the ground relay device is greater than the elevation angle threshold, the satellite is a gateway type satellite. A gateway type satellite can establish a satellite-to-ground link with the corresponding ground relay device.

[0130] Next, combine Figure 4 Describes the satellite that determines the gateway type.

[0131] Figure 4 A schematic diagram of a satellite for determining a gateway type provided in an embodiment of the present application. Figure 4 As shown, the communication range of the ground relay device G is used as an inscribed circle to form a rectangular coverage range, and the ground relay device, communication range, and coverage range are embedded in the target coordinate map to obtain the geographic coordinates of the ground relay device G. . Determine the satellite set GS within the coverage area, and the satellites in the set GS are gateway satellites of the ground relay device G.

[0132] Based on the above implementations, the target coordinate system provides a standardized framework that simplifies the calculation of geometric quantities such as distance and angle. The target coordinate map generated on this basis can effectively reduce the computational complexity of determining the target device and improve the efficiency of communication.

[0133] S306: Determine the target device according to the target link state and the target coordinate map.

[0134] For example, the target link state can be used to evaluate multiple links corresponding to the first satellite, and the target coordinate map can be used to determine the forwarding path of the target data packet. By combining the target link state and the target coordinate map, the target device with better performance can be accurately determined, thereby improving communication efficiency.

[0135] Next, combine Figure 5 Describes how to determine the target device.

[0136] Figure 5 This is a schematic diagram of determining a target device provided in an embodiment of the present application. Figure 5 As shown, after the first satellite receives the target data packet, the target device is determined according to the device type of the first satellite. If the first satellite is a gateway type, it is determined whether the load of the lower planet-to-ground link meets the requirements. If it does, the ground relay device can be determined as the target device. If the load of the lower planet-to-ground link does not meet the requirements, or the first satellite is a non-gateway type, the target device is determined from the satellites in the forwarding direction that the first satellite can choose. If all satellites are overloaded, the satellite with a larger weight is determined as the target device. If there is a satellite that is not overloaded, the satellite that is not overloaded is determined as the target device.

[0137] A feasible implementation method can determine the target device by the following method: determine the reference hop count and reference delay according to the target coordinate map and the routing algorithm; determine the target device according to the target link state, the reference hop count, and the reference delay.

[0138] Optionally, the remaining number of hops and the remaining delay when the data packet is forwarded to the first satellite are determined according to the reference number of hops and the reference delay; and the target device is determined according to the remaining number of hops, the remaining delay, and the device type.

[0139] Exemplarily, a calculation is performed based on the number of used hops and the generated delay to obtain the remaining number of hops and the remaining delay.

[0140] Combined with the scenario example, by calculating the remaining number of hops and the remaining delay, real-time planning can be performed when the data packet is forwarded to the first satellite to adapt to dynamically changing nodes, thereby improving the accuracy of determining the target device.

[0141] In combination with the scenario example, if the first satellite is a gateway type, the target device is determined according to whether the first satellite establishes a satellite-to-ground link with the ground relay device. If the first satellite is a non-gateway type, the target device is only the satellite.

[0142] In this feasible implementation, configuration solutions that meet the scenarios are determined for different device types, thereby improving the accuracy of determining the target device.

[0143] Optionally, after receiving the data packet, the ground relay device determines the next satellite of the ground relay device through the following scheme, and the specific process may be:

[0144] A gateway satellite that sends packets of information to a ground relay As a starting point, according to and The direction and specific value of the ground relay equipment cover the low-orbit satellite range to draw a rectangle, for example When As the starting point, for example, move 3 jumps in the positive direction of the X axis and 4 jumps in the positive direction of the Y axis. When moving along the X and Y axes, if you encounter a boundary satellite gateway in the satellite covered by the ground relay equipment, you stop moving in that direction, so as to determine Rectangular diagonal satellite , and get the updated .

[0145] If yes , which means Among the satellites covered by ground relay equipment, that is If it is the next-hop satellite, it will be directly forwarded by the ground relay equipment to ;

[0146] If yes , which means On the same X-axis as the next-hop satellite, the ground relay equipment will determine Load conditions , if it does not exceed the load threshold , the data packet is forwarded to If the threshold is exceeded , then consider For two nodes with a distance of one hop on the same Y axis, the load of the two nodes is mainly considered. The ground relay device selects the node with the smaller load for forwarding.

[0147] If yes , which means On the same Y axis as the next hop satellite, the ground base station will determine Load conditions , if it does not exceed the load threshold , the data packet is forwarded to If the threshold is exceeded , then consider For two nodes with a distance of one hop on the same x-axis, the load of the two nodes is mainly considered, and the ground relay device selects the node with the smaller load for forwarding;

[0148] If yes , which means For the satellites at the boundary points covered by the ground relay equipment, the ground relay equipment will determine Load conditions , if it does not exceed the load threshold , the data packet is forwarded to If the threshold is exceeded , then consider For two adjacent boundary satellites with one hop, the load conditions of the two nodes are mainly considered, and the ground relay equipment selects the node with the smaller load for forwarding.

[0149] A feasible implementation method can determine the reference hop number and the reference delay by the following method: determine the coordinate difference between the source satellite position and the target satellite position, determine the first hop number according to the target coordinate map and the coordinate difference, and the first hop number is the number of satellites passed from the source satellite to the target satellite; input the target coordinate map into the routing algorithm to obtain the second hop number, and the second hop number is the total number of ground relay devices and satellites passed from the source satellite to the target satellite; determine the reference hop number as the first hop number or the second hop number; determine multiple inter-satellite link delays corresponding to multiple candidate nodes; input the multiple inter-satellite link delays and the target coordinate map into the routing algorithm to obtain the reference delay.

[0150] Among them, the first hop number only considers pure inter-satellite links and is directly calculated based on the coordinate difference.

[0151] Next, combine Figure 6 The calculation of the first hop count is described.

[0152] Figure 6 This is a schematic diagram of calculating the first hop count provided in an embodiment of the present application. Figure 6 As shown in the target coordinate diagram, the source satellite Data can be forwarded in four directions, and the number of hops in each direction can be defined separately. , , as well as Indicates 4 directions. According to the source satellite and target satellite The coordinates of determine the first hop number.

[0153] Exemplarily, the first hop count is calculated using the following formula:

[0154]

[0155] in, represents the first hop number, x is the difference between the X-axis coordinates of the source satellite and the target satellite, y is the difference between the Y-axis coordinates of the source satellite and the target satellite, as well as Indicates the direction of the hop.

[0156] For example, if the X-axis coordinate of the target satellite is greater than the X-axis coordinate of the source satellite, then for , and vice versa. Same reason.

[0157] The second hop count is the hop count that takes both the inter-satellite link and the satellite-to-ground link into consideration, and is calculated through an algorithm.

[0158] Exemplarily, the source satellite coordinates, the target satellite coordinates, and the target coordinate map are used as inputs of a routing algorithm based on geographic location information, wherein both the inter-satellite link and the satellite-to-ground link parameters are set to 1, representing 1 hop. The second hop number is calculated through the routing algorithm.

[0159] Optionally, in the process of calculating the first hop number and the second hop number, only the direction toward the target satellite is considered, thereby excluding the calculation of redundant nodes, thereby reducing the calculation complexity.

[0160] For example, usually, the second hop number is less than or equal to the first hop number, because if the second hop number is greater than the first hop number, theoretically it will only exist when the gateway satellite is directly connected to the target satellite, that is, it takes 1 hop to reach. If the satellite-to-ground link is selected, it takes 2 hops to reach. In this case, the routing algorithm will not be selected.

[0161] Exemplarily, for a scenario where the second hop number is less than the first hop number, that is, the minimum hop number for satellite-ground coordinated forwarding is less than the minimum hop number for pure inter-satellite forwarding, the gateway satellite gives priority to satellite-ground coordinated forwarding when selecting the next hop node, and the reference hop number is determined to be the second hop number.

[0162] Exemplarily, for the scenario where the second hop number is equal to the first hop number, that is, the minimum hop number for satellite-ground collaborative forwarding is equal to the minimum hop number for pure inter-satellite forwarding, the gateway satellite needs to select the next hop node based on the delay and load of the satellite and ground relay equipment.

[0163] Exemplarily, each candidate node forwards data packets in different directions corresponding to different delays. Through the routing algorithm, a unified calculation is performed based on multiple inter-satellite link delays, and the total inter-satellite link delay from the source satellite to the target satellite can be obtained as a reference delay.

[0164] In this feasible implementation, by calculating the reference hop count and the reference delay, the forwarding of data packets can be planned overall from multiple dimensions, thereby improving the accuracy of determining the target device.

[0165] Figure 7 A schematic diagram of the structure of a data forwarding device provided in an embodiment of the present application. Figure 7 As shown, the data forwarding device 70 may include: a receiving module 71, a determining module 72, a calculating module 73, and a sending module 74, wherein:

[0166] The receiving module 71 is used to receive a data packet forwarding request, where the data packet forwarding request includes a target data packet.

[0167] The determination module 72 is used to determine the device type of the first satellite, where the device type is a gateway type or a non-gateway type.

[0168] The calculation module 73 is used to determine multiple target link states according to the device type, where the multiple target link states are satellite-to-ground link SGL states and / or inter-satellite link ISL states.

[0169] The sending module 74 is used to determine the target device according to the target link state and send the target data packet to the target device, where the target device is a ground relay device or a second satellite.

[0170] Optionally, the receiving module 71 may execute Figure 2 S201 in the embodiment.

[0171] Optionally, the determination module 72 may execute Figure 2 S202 in the embodiment.

[0172] Optionally, the calculation module 73 may execute Figure 2 S203 in the embodiment.

[0173] Optionally, the sending module 74 may execute Figure 2 S204 in the embodiment.

[0174] It should be noted that the data forwarding device shown in the embodiment of the present application can execute the technical solution shown in the above method embodiment, and its implementation principle and beneficial effects are similar, which will not be repeated here.

[0175] In a possible implementation manner, the device type is a non-gateway type; the calculation module 73 is specifically configured to:

[0176] Determine a plurality of intersatellite links to be selected corresponding to the first satellite and a plurality of satellites to be selected;

[0177] Determine a plurality of link delay information corresponding to a plurality of candidate intersatellite links, a plurality of load information corresponding to a plurality of candidate satellites, and a plurality of transmission rate information corresponding to a plurality of candidate satellites;

[0178] Through the fuzzy reasoning method, multiple link delay information, multiple load information, and multiple transmission rate information are calculated and processed to obtain multiple target link states corresponding to multiple candidate satellites.

[0179] In a possible implementation manner, the calculation module 73 is specifically configured to:

[0180] By using a fuzzy reasoning method, multiple link delay information, multiple load information, and multiple transmission rate information are calculated and processed to obtain multiple initial strategy information corresponding to multiple candidate satellites;

[0181] By presetting weights, multiple initial profit functions corresponding to multiple initial strategy information are determined;

[0182] Through the equilibrium game model, multiple initial profit functions are adjusted until the Nash equilibrium is reached, and multiple target strategy information corresponding to multiple candidate satellites is obtained.

[0183] In a possible implementation manner, the device type is a gateway type; the computing module 73 is specifically configured to:

[0184] Determine a plurality of candidate links corresponding to the first satellite, where the plurality of candidate links are inter-satellite links and / or satellite-to-ground links;

[0185] Determine multiple link delay information, multiple load information, and multiple bandwidth information corresponding to multiple candidate links;

[0186] Through the fuzzy reasoning method, multiple link delay information, multiple load information, and multiple bandwidth information are calculated and processed to obtain multiple target link states corresponding to multiple candidate links.

[0187] Figure 8 A schematic diagram of the structure of a data forwarding device provided in an embodiment of the present application. Figure 7 Based on the embodiment shown, Figure 8 As shown, the data forwarding device 80 also includes: a processing module 75 and an execution module 76, wherein:

[0188] The processing module 75 is used for:

[0189] Determine a target coordinate map according to the source satellite position and the target satellite position, wherein the target coordinate map includes a plurality of nodes to be selected, and the plurality of nodes to be selected include a source satellite, a target satellite, and a plurality of intermediate nodes, wherein any intermediate node is a satellite or a ground relay device;

[0190] Determine the target device based on the target link status and the target coordinate map.

[0191] In a possible implementation manner, the processing module 75 is specifically configured to:

[0192] Determine the target range of the target coordinate map according to the source satellite position and the target satellite position;

[0193] Positions of multiple intermediate nodes within a target range are determined, and a target coordinate graph is determined according to the positions of the multiple intermediate nodes.

[0194] The execution module 76 is used to:

[0195] Determine the reference number of hops and the reference delay according to the target coordinate map and the routing algorithm;

[0196] The target device is determined according to the target link status, the reference number of hops, and the reference delay.

[0197] In a possible implementation, the execution module 76 is specifically configured to:

[0198] Determine a coordinate difference between a source satellite position and a target satellite position, and determine a first hop number according to a target coordinate map and the coordinate difference, where the first hop number is the number of satellites passed from the source satellite to the target satellite;

[0199] Input the target coordinate map into the routing algorithm to obtain the second hop number, which is the total number of ground relay devices and satellites passed from the source satellite to the target satellite;

[0200] Determine that the reference hop number is the first hop number or the second hop number;

[0201] Determine multiple inter-satellite link delays corresponding to multiple candidate nodes;

[0202] Multiple intersatellite link delays and target coordinate graphs are input into the routing algorithm to obtain the reference delay.

[0203] Fig. 9 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application is shown in FIG. Fig. 9 As shown, the electronic device includes:

[0204] The electronic device includes a processor 291 and a memory 292; it may also include a communication interface 293 and a bus 294. The processor 291, the memory 292, and the communication interface 293 may communicate with each other through the bus 294. The communication interface 293 may be used for information transmission. The processor 291 may call the logic instructions in the memory 292 to execute the method of the above embodiment.

[0205] In addition, the logic instructions in the above-mentioned memory 292 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0206] The memory 292 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present application. The processor 291 executes functional applications and data processing by running the software programs, instructions, and modules stored in the memory 292, that is, implementing the methods in the above method embodiments.

[0207] The memory 292 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 292 may include a high-speed random access memory and may also include a non-volatile memory.

[0208] An embodiment of the present application provides a non-temporary computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method as described in the above embodiment.

[0209] An embodiment of the present application provides a computer program product, including a computer program, which implements the method of the above embodiment when the computer program is executed by a processor.

[0210] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0211] It should be further noted that, although the various steps in the flow chart are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flow chart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0212] It should be understood that the above-mentioned device embodiments are only illustrative, and the device of the present application can also be implemented in other ways. For example, the division of units / modules in the above-mentioned embodiments is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0213] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application may be integrated into one unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The above-mentioned integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0214] If the integrated unit / module is implemented in the form of hardware, the hardware may be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes but is not limited to transistors, memristors, etc. The processor may be any appropriate hardware processor, such as CPU, GPU, FPGA, DSP, and ASIC, etc. The storage unit may be any appropriate magnetic storage medium or magneto-optical storage medium, such as Resistive Random Access Memory (RRAM), Dynamic Random Access Memory (DRAM), Static Random Access Memory (SRAM), Enhanced Dynamic Random Access Memory (EDRAM), High-Bandwidth Memory (HBM), Hybrid Memory Cube (HMC), etc.

[0215] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the relevant technology or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0216] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0217] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0218] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A data forwarding method, characterized in that: Applied to a first satellite, the method comprises: receiving a data packet forwarding request, wherein the data packet forwarding request includes a target data packet; Determine a device type of the first satellite, where the device type is a gateway type or a non-gateway type; Determine a plurality of target link states according to the device type, wherein the plurality of target link states are satellite-to-ground link (SGL) states and / or inter-satellite link (ISL) states; A target device is determined according to the target link state, and the target data packet is sent to the target device, where the target device is a ground relay device or a second satellite.

2. The method according to claim 1, characterized in that The device type is a non-gateway type; According to the device type, multiple target link states are determined, including: Determine a plurality of intersatellite links to be selected and a plurality of satellites to be selected corresponding to the first satellite; Determine a plurality of link delay information corresponding to the plurality of candidate intersatellite links, a plurality of load information corresponding to the plurality of candidate satellites, and a plurality of transmission rate information corresponding to the plurality of candidate satellites; The plurality of link delay information, the plurality of load information, and the plurality of transmission rate information are calculated and processed by a fuzzy reasoning method to obtain a plurality of target link states corresponding to the plurality of candidate satellites.

3. The method according to claim 2, characterized in that The plurality of link delay information, the plurality of load information, and the plurality of transmission rate information are calculated and processed by a fuzzy reasoning method to obtain a plurality of target link states corresponding to the plurality of selected satellites, including: By using a fuzzy reasoning method, the plurality of link delay information, the plurality of load information, and the plurality of transmission rate information are calculated and processed to obtain a plurality of initial strategy information corresponding to the plurality of selected satellites; Determining multiple initial benefit functions corresponding to the multiple initial strategy information by presetting weights; The multiple initial benefit functions are adjusted through an equilibrium game model until a Nash equilibrium is reached, thereby obtaining multiple target strategy information corresponding to the multiple satellites to be selected.

4. The method according to claim 1, characterized in that: The device type is a gateway type; According to the device type, multiple target link states are determined, including: Determine a plurality of candidate links corresponding to the first satellite, wherein the plurality of candidate links are inter-satellite links and / or satellite-to-ground links; Determine multiple link delay information, multiple load information, and multiple bandwidth information corresponding to the multiple candidate links; The plurality of link delay information, the plurality of load information, and the plurality of bandwidth information are calculated and processed by a fuzzy reasoning method to obtain a plurality of target link states corresponding to the plurality of candidate links.

5. The method according to any one of claims 1 to 4, characterized in that The data packet forwarding request also includes a source satellite position and a target satellite position; Determining a target device according to the target link state includes: Determine a target coordinate graph according to the source satellite position and the target satellite position, wherein the target coordinate graph includes a plurality of nodes to be selected, and the plurality of nodes to be selected include a source satellite, a target satellite, and a plurality of intermediate nodes, wherein any intermediate node is a satellite or a ground relay device; The target device is determined according to the target link state and the target coordinate map.

6. The method according to claim 5, characterized in that Determining a target coordinate map according to the source satellite position and the target satellite position includes: Determining a target range of a target coordinate map according to the source satellite position and the target satellite position; A plurality of intermediate node positions within the target range are determined, and the target coordinate map is determined according to the plurality of intermediate node positions.

7. The method according to claim 6, characterized in that Determining the target device according to the target link state and the target coordinate map includes: Determine a reference number of hops and a reference delay according to the target coordinate map and the routing algorithm; The target device is determined according to the target link state, the reference number of hops, and the reference delay.

8. The method according to claim 7, characterized in that Determining a reference number of hops and a reference delay according to the target coordinate map and the routing algorithm includes: Determine a coordinate difference between the source satellite position and the target satellite position, and determine a first hop number according to the target coordinate map and the coordinate difference, where the first hop number is the number of satellites passed from the source satellite to the target satellite; Inputting the target coordinate map into the routing algorithm to obtain a second hop count, where the second hop count is the total number of ground relay devices and satellites passed from the source satellite to the target satellite; Determine the reference hop number as the first hop number or the second hop number; Determine a plurality of inter-satellite link delays corresponding to the plurality of candidate nodes; The multiple intersatellite link delays and the target coordinate map are input into the routing algorithm to obtain the reference delay.

9. A data forwarding device, characterized in that: Applied to a first satellite, the device comprises: A receiving module, configured to receive a data packet forwarding request, wherein the data packet forwarding request includes a target data packet; a determination module, configured to determine a device type of the first satellite, wherein the device type is a gateway type or a non-gateway type; A calculation module, used for determining a plurality of target link states according to the device type, wherein the plurality of target link states are satellite-to-ground link SGL states and / or inter-satellite link ISL states; The sending module is used to determine the target device according to the target link state and send the target data packet to the target device, where the target device is a ground relay device or a second satellite.

10. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 8 when executed by a processor.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 8 when being executed by a processor.

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