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

Abstract

An embodiment of the present application provides a data forwarding method, apparatus, electronic device, storage medium, and program product. The method includes: receiving a data packet forwarding request, where the data packet forwarding request includes a target data packet; determining the device type of the first satellite, where the device type is a gateway type or a non-gateway type; determining a plurality of target link states according to the device type, where the plurality of target link states are space-ground link (SGL) states and / or inter-satellite link (ISL) states; determining a target device according to the target link state, and sending the target data packet to the target device, where the target device is a ground relay device or a second satellite. In the above solution, by introducing a ground relay device, compared with only using satellites, additional transmission path selection can be provided, thereby optimizing routing and improving communication efficiency.

Description

Technical Field

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

[0002] In the field of satellite network communication, communication satellites have characteristics such as 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 communication has 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 the satellites to achieve satellite network communication.

[0004] However, when a satellite fails or becomes congested, it will cause the problem of an increase in the number of hops from the source satellite to the target satellite, and thus lead to low communication efficiency. Summary of the Invention

[0005] Embodiments of this application provide a data forwarding method, apparatus, electronic device, storage medium, and program product to improve communication efficiency.

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

[0007] In a possible implementation manner, the device type is a non-gateway type; determining multiple target link states according to the device type includes: determining multiple candidate inter-satellite links corresponding to the first satellite and multiple candidate satellites; determining multiple link delay information corresponding to the multiple candidate inter-satellite links, multiple load information corresponding to the multiple candidate satellites, and multiple transmission rate information corresponding to the multiple candidate satellites; and performing calculation processing on the multiple link delay information, multiple load information, and multiple transmission rate information through a fuzzy inference method to obtain multiple target link states corresponding to the multiple candidate satellites.

[0008] In a possible implementation, through a fuzzy inference method, the multiple link delay information, multiple load information, and the multiple transmission rate information are calculated and processed to obtain multiple target link states corresponding to the multiple candidate satellites, including: through the fuzzy inference method, the multiple link delay information, multiple load information, and the multiple transmission rate information are calculated and processed to obtain multiple initial policy information corresponding to the multiple candidate satellites; through preset weights, multiple initial benefit functions corresponding to the multiple initial policy information are determined; through an equilibrium game model, the multiple initial benefit functions are adjusted until Nash equilibrium is reached to obtain multiple target policy information corresponding to the multiple candidate satellites.

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

[0010] In a possible implementation, the data packet forwarding request further includes the source satellite position and the target satellite position; according to the target link state, the target device is determined, including: according to the source satellite position and the target satellite position, a target coordinate map is determined, where the target coordinate map includes multiple candidate nodes, and the multiple candidate nodes include the source satellite, the target satellite, and multiple intermediate nodes, and any one of the intermediate nodes is a satellite or a ground relay device; according to the target link state and the target coordinate map, the target device is determined.

[0011] In a possible implementation, determining the target coordinate map according to the source satellite position and the target satellite position includes: according to the source satellite position and the target satellite position, the target range of the target coordinate map is determined; the positions of multiple intermediate nodes within the target range are determined, and the target coordinate map is determined according to the positions of the multiple intermediate nodes.

[0012] In a possible implementation, determining the target device according to the target link state and the target coordinate map includes: according to the target coordinate map and a routing algorithm, a reference hop count and a reference time delay are determined; according to the target link state, the reference hop count, and the reference time delay, the target device is determined.

[0013] In a possible implementation manner, determining a reference hop count and a reference delay according to the target coordinate map and a routing algorithm includes: determining a coordinate difference between the source satellite position and the target satellite position, and determining a first hop count according to the target coordinate map and the coordinate difference, where the first hop count 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; determining the reference hop count as the first hop count or the second hop count; determining the 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 applied to a first satellite. The device includes: a receiving module, configured to receive a data packet forwarding request, where the data packet forwarding request includes a target data packet; a determining module, configured to determine the device type of the first satellite, where the device type is a gateway type or a non-gateway type; a calculating module, configured to determine multiple target link states according to the device type, where the multiple target link states are satellite-ground link (SGL) states and / or inter-satellite link (ISL) states; and a sending module, configured to determine a 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.

[0015] In a possible implementation manner, the device type is a non-gateway type; specifically, the calculating module is configured to determine multiple candidate inter-satellite links and multiple candidate satellites corresponding to the first satellite; specifically, the calculating module is further configured to determine multiple link delay information corresponding to the multiple candidate inter-satellite links, multiple load information corresponding to the multiple candidate satellites, and multiple transmission rate information corresponding to the multiple candidate satellites; and specifically, the calculating module is further configured to perform calculation processing on the multiple link delay information, multiple load information, and multiple transmission rate information through a fuzzy inference method to obtain multiple target link states corresponding to the multiple candidate satellites.

[0016] In a possible implementation manner, the computing module is specifically configured to perform calculation processing on the multiple link delay information, multiple load information, and the multiple transmission rate information through a fuzzy inference method to obtain multiple initial policy information corresponding to the multiple candidate satellites; the computing module is further specifically configured to determine multiple initial revenue functions corresponding to the multiple initial policy information through a preset weight; the computing module is further specifically configured to perform adjustment processing on the multiple initial revenue functions through an equilibrium game model until reaching a Nash equilibrium, so as to obtain multiple target policy information corresponding to the multiple candidate satellites.

[0017] In a possible implementation manner, the device type is a gateway type; the computing module is specifically configured to determine multiple candidate links corresponding to the first satellite, and the multiple candidate links are inter-satellite links and / or satellite-ground links; the computing module is further specifically configured to determine multiple link delay information, multiple load information, and multiple bandwidth information corresponding to the multiple candidate links; the computing module is further specifically configured to perform calculation processing on the multiple link delay information, multiple load information, and the multiple bandwidth information through a fuzzy inference method to obtain multiple target link states corresponding to the multiple candidate links.

[0018] In a possible implementation manner, the data packet forwarding request further includes a source satellite position and a target satellite position; the device further includes: a processing module, configured to determine a target coordinate map according to the source satellite position and the target satellite position, where the target coordinate map includes multiple candidate nodes, and the multiple candidate nodes include a source satellite, a target satellite, and multiple intermediate nodes, and any one of the intermediate nodes is a satellite or a ground relay device; the processing module is further configured to determine the target device according to the target link state and the target coordinate map.

[0019] In a possible implementation manner, the processing module is specifically configured to determine a target range of the target coordinate map according to the source satellite position and the target satellite position; the processing module is further specifically configured to determine positions of multiple intermediate nodes within the target range, and determine the target coordinate map according to the positions of the multiple intermediate nodes.

[0020] In a possible implementation manner, the device further includes: an execution module, configured to determine a reference hop count and a reference delay according to the target coordinate map and a routing algorithm; the execution module is further configured to determine the target device according to the target link state, the reference hop count, and the reference delay.

[0021] In a possible implementation manner, the execution module is specifically configured to determine the coordinate difference between the source satellite position and the target satellite position, and determine a first hop count according to the target coordinate map and the coordinate difference, where the first hop count is the number of satellites passed from the source satellite to the target satellite; the execution module is specifically further configured to input 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; the execution module is specifically further configured to determine that the reference hop count is the first hop count or the second hop count; the execution module is specifically further configured to determine the inter-satellite link delays corresponding to the multiple candidate nodes; the execution module is specifically further configured 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 and a processor;

[0023] The memory stores computer execution instructions;

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

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

[0026] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the above first aspect and / or various possible implementation manners 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, the method includes: receiving a data packet forwarding request, where the data packet forwarding request includes a target data packet; determining the device type of the first satellite, where the device type is a gateway type or a non-gateway type; determining multiple target link states according to the device type, where the multiple target link states are satellite-ground link SGL states and / or inter-satellite link ISL states; determining a target device according to the target link state, and sending the target data packet to the target device, where the target device is a ground relay device or a second satellite. The above solution introduces a ground relay device, which can provide additional transmission path selection compared to only using satellites, thereby optimizing routing and improving communication efficiency. Description of the Drawings

[0028] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with this application, and are used together with the specification to explain the principles of this application.

[0029] Figure 1 Schematic diagram of an application scenario of a data forwarding method provided for an embodiment of this application;

[0030] Figure 2 Schematic flowchart of a data forwarding method provided for an embodiment of this application;

[0031] Figure 3 Schematic flowchart of a data forwarding method provided for an embodiment of this application;

[0032] Figure 4 Schematic diagram of a satellite for determining the gateway type provided for an embodiment of this application;

[0033] Figure 5 Schematic diagram of determining a target device provided for an embodiment of this application;

[0034] Figure 6 Schematic diagram of calculating the first hop count provided for an embodiment of this application;

[0035] Figure 7 Schematic diagram of the structure of a data forwarding device provided for an embodiment of this application;

[0036] Figure 8 Schematic diagram of the structure of a data forwarding device provided for an embodiment of this application;

[0037] Figure 9 Schematic diagram of the structure of an electronic device provided for an embodiment of this application.

[0038] Through the above accompanying drawings, specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These accompanying drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0039] Here, the exemplary embodiments will be described in detail, and the examples are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation manners described in the following exemplary embodiments do not represent all implementation manners consistent with this application. On the contrary, they are merely examples of devices and methods consistent with some aspects of this 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 or 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 FIG. is a schematic diagram of an application scenario of a data forwarding method provided by an embodiment of the present application. Taking the illustrated scenario as an example: In satellite network communication, the process of ground relay device 1 sending a data packet to ground relay device 2 may include: Ground relay device 1 sends a data packet to source satellite 3, and the data packet is forwarded to target satellite 4 through multiple satellites, and target satellite 4 sends the data packet to 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. The inter-satellite link (Inter-Satellite Link, abbreviated as ISL) is a communication link between satellites, allowing direct data transmission between satellites.

[0043] Exemplarily, during the process of a data packet being transmitted between the source satellite and the target satellite, the data packet is forwarded through multiple satellites. Each time a forwarding occurs, it corresponds to one hop, and 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 the number of forwardings, that is, the more the number of hops, it indicates that the transmission path of the data packet is longer, and the corresponding communication efficiency is lower. At the same time, each time a data packet forwarding is performed, the satellite needs to make a decision, and the decision will cause time consumption. Therefore, the more the number of hops, the more the transmission time consumption.

[0044] In practical applications, if the satellite on the shortest path of data packet transmission is damaged or congested, it is necessary to re-determine the transmission path. 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 by the present application aims to solve the above technical problems in the related art.

[0046] The technical solution of the present application and how the technical solution of the present application solves the above technical problems will be described in detail below with specific embodiments. These specific embodiments below 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 with reference to the accompanying drawings.

[0047] Figure 2 FIG. is a flowchart of a data forwarding method provided by an embodiment of the present application. The method includes the following steps:

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

[0049] Among them, the target data packet is the data packet to be transmitted, and the data packet forwarding request is used to indicate forwarding the target data packet to the target satellite.

[0050] Among them, the first satellite is the satellite that currently receives the target data packet.

[0051] Combined with a scenario example, during the process of forwarding the data packet to the 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 the device type of the first satellite, where the device type is a gateway type or a non-gateway type.

[0053] Exemplarily, a satellite of the gateway type is a satellite that is connected to both satellites and ground relay devices, and a satellite of the non-gateway type is a satellite that is only connected to satellites.

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

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

[0056] Among them, 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 a satellite and a ground relay device through a satellite-ground link. The satellite-ground link includes an uplink and a downlink. The uplink is that the ground relay station sends a signal 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 laser. After the satellite receives the signal, it demodulates and decodes it to recover the data packet. The downlink is that the satellite sends the data packet 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 to realize the quantification of the link quality.

[0059] S204. Determine the target device according to multiple target link states, and send the 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 the current link states of multiple links corresponding to the first satellite.

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

[0062] Combined with the scenario example, determining the target device according to the target link state updated in real time can effectively avoid real-time satellite damage or congestion, select a device and link with better transmission quality, thereby improving the efficiency of data forwarding.

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

[0064] Based on any of the above embodiments, below, in combination with Figure 3 , the detailed process of data forwarding will be described.

[0065] Figure 3 It is a schematic flowchart of a data forwarding method provided by an embodiment of this application. As Figure 3 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 for the execution process of S301, refer to S201, which will not be elaborated here.

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

[0069] It should be noted that for the execution process of S302, refer to S202, which will not be elaborated 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, the following method can be used to determine the states of multiple target links: Determine multiple candidate inter-satellite links corresponding to the first satellite, and multiple candidate satellites; Determine multiple link delay information corresponding to the multiple candidate inter-satellite links, multiple load information corresponding to the multiple candidate satellites, and multiple transmission rate information corresponding to the multiple candidate satellites; Through a fuzzy inference method, calculate and process the multiple link delay information, multiple load information, and multiple transmission rate information to obtain the states of multiple target links 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 4 permanent inter-satellite links with 4 adjacent satellites, and stores the corresponding relationship between the first satellite and the 4 satellites. The multiple candidate satellites can be accurately determined through the corresponding relationship.

[0074] Optionally, the link delay information may include the link delay, which is the ratio of the distance between the first satellite and the candidate satellite to the data packet transmission speed.

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

[0076]

[0077] where 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. represents the data packet reception rate (MB / s), that is, the rate at which the candidate satellite receives data packets from the previous-hop satellite. represents the data processing rate (MB / s), that is, the rate at which the candidate satellite processes, compresses, etc. data packets, that is, the amount of data processed per second. represents the data transmission rate (MB / s), that is, the rate at which the candidate satellite sends out data packets.

[0078] Optionally, the target link state is a fuzzy value obtained through fuzzy inference. The target link state can comprehensively reflect the state of each candidate satellite to make decisions on data packet forwarding from multiple dimensions.

[0079] In this feasible implementation method, the target link state determined by integrating multiple dimensions can comprehensively reflect the state of the candidate satellites, thereby improving the accuracy of data packet forwarding.

[0080] A feasible implementation method can perform fuzzy inference through the following steps: Through the fuzzy inference method, calculate and process multiple link delay information, multiple load information, and multiple transmission rate information to obtain multiple initial policy information corresponding to multiple candidate satellites; determine multiple initial benefit functions corresponding to the multiple initial policy information through preset weights; through the equilibrium game model, adjust and process the multiple initial benefit functions until the Nash equilibrium is reached, and obtain multiple target policy information corresponding to the multiple candidate satellites.

[0081] Exemplarily, fuzzify the candidate satellite status. For any candidate satellite, determine 3 input variables: Fuzzify the load information into "low load", "medium load", and "high load"; fuzzify the link delay information into "low delay", "medium delay", and "high delay"; fuzzify the transmission rate information into "low processing", "medium processing", and "high processing". The triangular membership function in fuzzy logic is defined as follows:

[0082]

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

[0084] Optionally, establish fuzzy rules based on the link delay information, load information, and transmission rate information to evaluate the candidate satellite situation. The rules 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", etc., 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, calculate the initial policy information through the Mamdani inference of the fuzzy inference system. Defuzzify through the average method to obtain the specific initial policy information , which can be a specific score, representing the status of satellite i. The specific process is as follows:

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

[0087]

[0088] (2) Calculate the output membership degree: According to the activation strength of the rule , perform a "truncation" process on the output membership function. That is, limit the value of the output membership function of each rule within the activation strength . For the rule output membership function , the truncated membership degree is:

[0089]

[0090] where is the membership function of the output variable .

[0091] (3) Synthesize the fuzzy output: Take the maximum value of the truncated membership functions of all rules to synthesize the final fuzzy output. That is, for the output the fuzzy membership degree is:

[0092]

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

[0094]

[0095] where is a certain point in the support interval. is the membership degree at the point , and perform a weighted average on all support points of the fuzzy output through the above formula, with the weight value being the membership degree. The result is the score of satellite i .

[0096] After obtaining the scores of each satellite for the next hop through fuzzy reasoning , execute the game theory optimization load strategy. In the game theory optimization strategy adopted in this application, each satellite adjusts its strategy within the game framework and achieves an equilibrium effect by maximizing its own profit 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, establish an equilibrium game model: Each satellite is regarded as a game participant, and the game objective is to optimize the load distribution of the network by choosing appropriate transmission strategies. Each satellite makes a preliminary strategy selection based on the score calculated by fuzzy inference. Define the revenue function: The revenue function of each satellite considers the load, delay, and transmission rate R(t). Therefore, the revenue function of satellite i can be defined as:

[0098]

[0099] where α, β, and γ are weight coefficients used to adjust the impact of link delay information, load information, and transmission rate information on the satellite revenue. The objective of the revenue function is to enable the satellite to obtain a higher transmission rate while avoiding excessive load and delay.

[0100] Subsequently, construct a load balancing game model. 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, calculate the revenue of each satellite according to the revenue function . After calculating the revenue, each satellite observes the states and revenues of adjacent satellites and decides whether to adjust the strategy. The satellite will select a new strategy such that the new revenue is higher than the current revenue . When the revenue function of each satellite no longer changes significantly, that is, when the revenue function reaches a stable state, meaning that the satellite cannot obtain a higher revenue by changing the strategy alone, the game reaches the Nash equilibrium:

[0101]

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

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

[0104] A feasible implementation method. If the device type is a non-gateway type, the following method can be used to determine the link states of multiple targets: Determine multiple candidate links corresponding to the first satellite, where the multiple candidate links are inter-satellite links and / or satellite-ground links; Determine multiple link delay information, multiple load information, and multiple bandwidth information corresponding to the multiple candidate links; Through a fuzzy inference method, calculate and process the multiple link delay information, multiple load information, and multiple bandwidth information to obtain the link states of multiple targets corresponding to the multiple candidate links.

[0105] Optionally, the target link state of the first satellite of the gateway type is determined through a fuzzy inference and equilibrium game model.

[0106] Exemplarily, determining the target link state may include the following steps: First, use fuzzy inference 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 obtain the downlink score according to the fuzzy rules. . At the same time, evaluate the inter-satellite link transmission state to obtain the inter-satellite link score. . After obtaining the fuzzy score, the first satellite substitutes the two link scores into the benefit function and determines whether to use the inter-satellite link or the satellite-ground link through the game model.

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

[0108]

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

[0110]

[0111] Where, and respectively represent the loads of the inter-satellite link and the satellite-ground link; and respectively represent the delays of the inter-satellite link and the satellite-ground link; and respectively represent the link bandwidth occupancy of the inter-satellite link and the satellite-ground link.

[0112] Subsequently, make a strategy selection: If , then select to forward through the ground relay device, otherwise, select to forward through the inter-satellite link.

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

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

[0115]

[0116]

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

[0118] In this feasible implementation, by combining fuzzy inference and game theory optimization, it is possible to achieve dynamic path selection, load balancing, resource optimization, and transmission efficiency improvement in complex links, and finally reach the Nash equilibrium, thereby optimizing the target strategy information and improving communication efficiency.

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

[0120] Among them, the target coordinate map includes multiple candidate nodes. The multiple candidate nodes include the source satellite, the target satellite, and multiple intermediate nodes. Any one of the intermediate nodes is a satellite or a ground relay device.

[0121] Among them, the data packet forwarding request includes the source satellite position and the target satellite position.

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

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

[0124] Exemplarily, determine a suitable coordinate system origin and unit length according to the source satellite position and the target satellite position, and construct the target coordinate system 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, place the source satellite and the target satellite at both ends of the diagonal of a rectangle in the target coordinate system, and determine the rectangular range as the target range.

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

[0127] S305. Determine the positions of multiple intermediate nodes within the target range, and determine the target coordinate map according to the positions of the multiple intermediate nodes.

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

[0129] Combined with a 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, then the satellite is a gateway-type satellite. The gateway-type satellite can establish a satellite-ground link with the corresponding ground relay device.

[0130] Next, combined with Figure 4 an illustration of determining the gateway-type satellite will be given.

[0131] Figure 4 FIG. is a schematic diagram of determining the gateway-type satellite provided by an embodiment of the present application. As Figure 4 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, the communication range, and the coverage range are embedded in the target coordinate map to obtain the geographical coordinates of the ground relay device G . Determine the set GS of satellites within the coverage range, and the satellites within the set GS are the gateway satellites of the ground relay device G.

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

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

[0134] Exemplarily, multiple links corresponding to the first satellite can be evaluated through the target link state, and the forwarding path of the target data packet can be determined through the target coordinate map. Combining the target link state and the target coordinate map, the target device with better performance can be accurately determined, thereby improving the communication efficiency.

[0135] Next, combined with Figure 5 an illustration of determining the target device will be given.

[0136] Figure 5 Schematic diagram for determining a target device provided by an embodiment of this application. As Figure 5 shown, after the first satellite receives the target data packet, it determines the target device according to the device type of the first satellite. If the first satellite is of the gateway type, it determines whether the load of the downlink satellite-ground link meets the requirements. If it meets the requirements, the ground relay device can be determined as the target device. If the load of the downlink satellite-ground link does not meet the requirements or the first satellite is of a non-gateway type, it determines the target device from the satellites in the selectable forwarding directions of the first satellite. If all satellites are overloaded, it determines the satellite with a larger weight as the target device. If there are satellites that are not overloaded, it determines the satellites that are not overloaded as the target devices.

[0137] A feasible implementation can determine the target device through the following method: determine the reference hop count and the 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, according to the reference hop count and the reference delay, determine the remaining hop count and the remaining delay when the data packet is forwarded to the first satellite; determine the target device according to the remaining hop count, the remaining delay, and the device type.

[0139] Exemplarily, calculate based on the used hop count and the generated delay to obtain the remaining hop count and the remaining delay.

[0140] Combined with a scenario example, by calculating the remaining hop count 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] Combined with a scenario example, if the first satellite is of the gateway type, it determines the target device according to whether the first satellite has established a satellite-ground link with the ground relay device. If the first satellite is of a non-gateway type, the target device is only a satellite.

[0142] In this feasible implementation, a configuration scheme that conforms to its scenario is determined for different device types, thereby improving the accuracy of determining the target device.

[0143] Optionally, after the ground relay device receives the data packet, it determines the next satellite of the ground relay device through the following scheme. The specific process can be:

[0144] Taking the gateway satellite that sends the information packet to the ground relay device as the starting point, according to and make a rectangle in the range of low-earth orbit satellites covered by the ground relay device according to the direction and specific values, for example, when it is then taking Starting from a point, for example, moving 3 jumps in the positive X-axis direction and 4 jumps in the positive Y-axis direction respectively. When moving along the X and Y axes, if a boundary satellite gateway in the satellite covered by the ground relay device is encountered, the movement stops in that direction, thus determining the diagonal satellites of the rectangle and obtaining the updated .

[0145] If there is , it means is within the satellites covered by the ground relay device, that is, is the next-hop satellite, and it is directly forwarded by the ground relay device to ;

[0146] If there is , it means is on the same X-axis as the next-hop satellite, and the ground relay device will judge the load condition . If it does not exceed the load threshold , the data packet is forwarded to . If it exceeds the threshold , then consider the two nodes that are 1 hop away from on the same Y-axis. Mainly consider the load conditions of the two nodes, and the ground relay device selects the node with the smaller load for forwarding;

[0147] If there is , it means is on the same Y-axis as the next-hop satellite, and the ground base station will judge the load condition . If it does not exceed the load threshold , the data packet is forwarded to . If it exceeds the threshold , then consider the two nodes that are 1 hop away from on the same x-axis. Mainly consider the load conditions of the two nodes, and the ground relay device selects the node with the smaller load for forwarding;

[0148] If there is , it means is the boundary point satellite of the satellite covered by the ground relay device, and the ground relay device will judge the load condition . If it does not exceed the load threshold , the data packet is forwarded to . If it exceeds the threshold , then consider the two adjacent boundary satellites that are 1 hop away from . Mainly consider the load conditions of the two nodes, and the ground relay device selects the node with the smaller load for forwarding.

[0149] A feasible implementation method can determine the reference hop count and the reference time delay through the following methods: Determine the coordinate difference between the source satellite position and the target satellite position, and determine the first hop count according to the target coordinate map and the coordinate difference. The first hop count 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 count. 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 count as the first hop count or the second hop count; determine the inter-satellite link time delays corresponding to multiple candidate nodes; input the multiple inter-satellite link time delays and the target coordinate map into the routing algorithm to obtain the reference time delay.

[0150] Among them, the first hop count only considers the pure inter-satellite link and is directly calculated according to the coordinate difference.

[0151] Next, Figure 6 the calculation of the first hop count will be described.

[0152] Figure 6 FIG. is a schematic diagram of calculating the first hop count provided by an embodiment of the present application. As Figure 6 shown, in the target coordinate map, the source satellite can forward data in 4 directions, and the hop counts in the 4 directions are defined respectively. Use , , and to represent the 4 directions respectively. Determine the first hop count according to the coordinates of the source satellite and the target satellite .

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

[0154]

[0155] Among them, represents the first hop count, x is the X-axis coordinate difference between the source satellite and the target satellite, y is the Y-axis coordinate difference between the source satellite and the target satellite, and represent the direction of the hop count.

[0156] Exemplarily, if the X-axis coordinate of the target satellite is greater than the X-axis coordinate of the source satellite, then is , and vice versa. Similarly.

[0157] Among them, the second hop count is the hop count that considers both the inter-satellite link and the satellite-ground link and is obtained through an algorithm.

[0158] Exemplarily, the source satellite coordinates, the target satellite coordinates, and the target coordinate map are used as the input of the routing algorithm based on geographical location information, where the inter-satellite link and satellite-ground link parameters are both set to 1, representing 1 hop. Through the routing algorithm, the second hop count is calculated.

[0159] Optionally, during the process of calculating the first hop count and the second hop count, only the direction towards the target satellite is considered, so as to exclude the calculation of redundant nodes, thereby reducing the computational complexity.

[0160] Exemplarily, usually, the second hop count is less than or equal to the first hop count, because if the second hop count is greater than the first hop count, theoretically it will only exist when the gateway satellite is directly connected to the target satellite, that is, reaching in 1 hop, and if the satellite-ground link is selected, it will reach in 2 hops, and in this case, the routing algorithm will not select it.

[0161] Exemplarily, for the scenario where the second hop count is less than the first hop count, that is, the minimum hop count of satellite-ground collaborative forwarding is less than the minimum hop count of pure inter-satellite forwarding, when the gateway satellite selects the next-hop node, it gives priority to satellite-ground collaborative forwarding, and then determines the reference hop count as the second hop count.

[0162] Exemplarily, for the scenario where the second hop count is equal to the first hop count, that is, the minimum hop count of satellite-ground collaborative forwarding is equal to the minimum hop count of pure inter-satellite forwarding, when the gateway satellite selects the next-hop node, it needs to be determined according to the delay and load of the satellite and the ground relay device.

[0163] Exemplarily, each candidate node forwards data packets in different directions corresponding to different delays. Through the routing algorithm, 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 the reference delay.

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

[0165] Figure 7 It is a schematic structural diagram of a data forwarding device provided by an embodiment of the present application. As Figure 7 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, where,

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

[0167] The determining module 72 is configured to determine the device type of the first satellite, and the device type is a gateway type or a non-gateway type.

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

[0169] A sending module 74, configured to determine a target device according to the target link state and send a 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 may execute the technical solutions shown in the above method embodiments, and its implementation principles and beneficial effects are similar, which will not be elaborated 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 multiple candidate inter-satellite links corresponding to the first satellite and multiple candidate satellites;

[0177] Determine multiple link delay information corresponding to the multiple candidate inter-satellite links, multiple load information corresponding to the multiple candidate satellites, and multiple transmission rate information corresponding to the multiple candidate satellites;

[0178] Through a fuzzy inference method, perform calculation processing on the multiple link delay information, multiple load information, and multiple transmission rate information to obtain multiple target link states corresponding to the multiple candidate satellites.

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

[0180] Through a fuzzy inference method, perform calculation processing on the multiple link delay information, multiple load information, and multiple transmission rate information to obtain multiple initial policy information corresponding to the multiple candidate satellites;

[0181] Determine multiple initial benefit functions corresponding to the multiple initial policy information through a preset weight;

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

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

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

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

[0186] Through the fuzzy inference method, calculate and process the multiple link delay information, multiple load information, and multiple bandwidth information to obtain multiple target link states corresponding to the multiple candidate links.

[0187] Figure 8 This is a schematic structural diagram of a data forwarding device provided by an embodiment of the present application. Based on the Figure 7 shown embodiment, as Figure 8 shown, the data forwarding device 80 further includes: a processing module 75 and an execution module 76, where

[0188] The processing module 75 is configured to:

[0189] According to the source satellite position and the target satellite position, determine a target coordinate map, where the target coordinate map includes multiple candidate nodes, and the multiple candidate nodes include the source satellite, the target satellite, and multiple intermediate nodes, and any one of the intermediate nodes is a satellite or a ground relay device;

[0190] According to the target link state and the target coordinate map, determine the target device.

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

[0192] According to the source satellite position and the target satellite position, determine the target range of the target coordinate map;

[0193] Determine the positions of multiple intermediate nodes within the target range, and determine the target coordinate map according to the positions of the multiple intermediate nodes.

[0194] The execution module 76 is configured to:

[0195] According to the target coordinate map and the routing algorithm, determine the reference hop count and the reference delay;

[0196] According to the target link state, the reference hop count, and the reference delay, determine the target device.

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

[0198] Determine the coordinate difference between the source satellite position and the target satellite position, and determine the first hop count according to the target coordinate map and the coordinate difference. The first hop count 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 count. The second hop count 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 count is the first hop count or the second hop count;

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

[0202] Input the multiple inter-satellite link delays and the target coordinate map into the routing algorithm to obtain the reference delay.

[0203] Figure 9 This is a schematic structural diagram of an electronic device provided in an embodiment of the present application. As Figure 9 shown, the electronic device includes:

[0204] A processor 291. The electronic device further includes a memory 292; it may also include a communication interface 293 and a bus 294. Among them, the processor 291, the memory 292, and the communication interface 293 can communicate with each other through the bus 294. The communication interface 293 can be used for information transmission. The processor 291 can call the logical instructions in the memory 292 to execute the methods in the above embodiments.

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

[0206] The memory 292, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as the 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, implements the methods in the above method embodiments.

[0207] The memory 292 may include a program storage area and a data storage area. The program storage area may store an operating system and application programs 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-transitory computer-readable storage medium storing computer-executable instructions, which are used to implement the method in the foregoing embodiments when executed by a processor.

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

[0210] It should be noted that for the foregoing method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know 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 know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0211] It should be further noted that although the steps in the flowchart are displayed in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowchart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0212] It should be understood that the foregoing device embodiments are illustrative only, and the devices of the present application can also be implemented in other ways. For example, the division of units / modules in the foregoing 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, in each embodiment of the present application, each functional unit / module may be integrated into one unit / module, or each unit / module may exist physically alone, or two or more units / modules may be integrated together. The above integrated unit / module may be implemented in the form of hardware or in the form of a software program module.

[0214] When 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 suitable hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC, etc. The storage unit may be any suitable magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory (RRAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), an enhanced dynamic random access memory (EDRAM), a high-bandwidth memory (HBM), a hybrid memory cube (HMC), etc.

[0215] When the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it may be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the related technology, or all or part of the technical solution, may be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present application. The aforementioned memory includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs, etc., all of which can store program codes.

[0216] In the above embodiments, the descriptions of the respective embodiments each have their own focuses. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0217] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present application, which follow the general principles of the present application and include known common general knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and the embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

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

Claims

1. A data forwarding method, characterized in that, Applied to a first satellite, the method includes: Receiving a data packet forwarding request, the data packet forwarding request including a target data packet; Determining the device type of the first satellite, the device type being a gateway type or a non-gateway type; Determining multiple target link states according to the device type, the multiple target link states being space-ground link (SGL) states and / or inter-satellite link (ISL) states; Determining a target device according to the target link states updated in real time, and sending the target data packet to the target device, the target device being a ground relay device or a second satellite; If the device type is a gateway type; then determining multiple target link states according to the device type, including: Determining multiple candidate links corresponding to the first satellite, the multiple candidate links being inter-satellite links and / or space-ground links; Determining multiple link delay information, multiple load information, and multiple bandwidth information corresponding to the multiple candidate links; Performing calculation processing on the multiple link delay information, multiple load information, and the multiple bandwidth information through a fuzzy inference method to obtain multiple target link states corresponding to the multiple candidate links.

2. The method according to claim 1, wherein If the device type is a non-gateway type; then determining multiple target link states according to the device type, including: Determining multiple candidate inter-satellite links corresponding to the first satellite, and multiple candidate satellites; Determining multiple link delay information corresponding to the multiple candidate inter-satellite links, multiple load information corresponding to the multiple candidate satellites, and multiple transmission rate information corresponding to the multiple candidate satellites; Performing calculation processing on the multiple link delay information, multiple load information, and the multiple transmission rate information through a fuzzy inference method to obtain multiple target link states corresponding to the multiple candidate satellites.

3. The method according to claim 2, wherein Performing calculation processing on the multiple link delay information, multiple load information, and the multiple transmission rate information through a fuzzy inference method to obtain multiple target link states corresponding to the multiple candidate satellites, including: Performing calculation processing on the multiple link delay information, multiple load information, and the multiple transmission rate information through a fuzzy inference method to obtain multiple initial policy information corresponding to the multiple candidate satellites; Determining multiple initial revenue functions corresponding to the multiple initial policy information through a preset weight; Adjusting and processing the multiple initial revenue functions through an equilibrium game model until reaching a Nash equilibrium to obtain multiple target policy information corresponding to the multiple candidate satellites.

4. The method according to any one of claims 1 to 3, characterized in that, The data packet forwarding request further includes a source satellite position and a target satellite position; Determining a target device according to the target link states, including: Determining a target coordinate map according to 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, where any one of the intermediate nodes is a satellite or a ground relay device; Determining the target device according to the target link states and the target coordinate map.

5. The method according to claim 4, wherein Determining a target coordinate map according to the source satellite position and the target satellite position, including: Determine the target range of the target coordinate map according to the source satellite position and the target satellite position; Determine the positions of multiple intermediate nodes within the target range, and determine the target coordinate map according to the positions of the multiple intermediate nodes.

6. The method according to claim 5, wherein Determine the target device according to the target link state and the target coordinate map, including: Determine the reference hop count and the 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.

7. The method according to claim 6, wherein Determine the reference hop count and the reference delay according to the target coordinate map and the routing algorithm, including: Determine the coordinate difference between the source satellite position and the target satellite position, and determine the first hop count according to the target coordinate map and the coordinate difference, where the first hop count 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 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 count as the first hop count or the second hop count; Determine the multiple inter-satellite link delays corresponding to the multiple candidate nodes; Input the multiple inter-satellite link delays and the target coordinate map into the routing algorithm to obtain the reference delay.

8. A data forwarding device, characterized in that, Applied to the first satellite, the device includes: A receiving module, configured to receive a data packet forwarding request, where the data packet forwarding request includes a target data packet; A determining module, configured to determine the device type of the first satellite, where the device type is a gateway type or a non-gateway type; A calculating module, configured to determine multiple target link states according to the device type, where the multiple target link states are satellite-ground link SGL states and / or inter-satellite link ISL states; A sending module, configured to determine a target device according to the target link state updated in real time, and send the target data packet to the target device, where the target device is a ground relay device or a second satellite; If the device type is a gateway type; then the calculating module is specifically configured to: Determine multiple candidate links corresponding to the first satellite, where the multiple candidate links are inter-satellite links and / or satellite-ground links; Determine multiple link delay information, multiple load information, and multiple bandwidth information corresponding to the multiple candidate links; Perform calculation processing on the multiple link delay information, the multiple load information, and the multiple bandwidth information through a fuzzy inference method to obtain multiple target link states corresponding to the multiple candidate links.

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

10. A computer-readable storage medium, characterized in that, Computer execution instructions are stored in the computer-readable storage medium, and when the computer execution instructions are executed by a processor, they are used to implement the method according to any one of claims 1-7.

11. A computer program product, characterized in that, Include a computer program, which when executed by a processor implements the method according to any one of claims 1-7.

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