A method, device and system for Internet of Things data transmission based on multi-satellite collaboration

Abstract

The present invention relates to the field of data transmission technology, and provides an Internet of Things data transmission method, device, and system based on multi-satellite collaboration, which is applied to a ground dispatching center; the method includes: determining data to be transmitted and monitoring data, selecting a collaborative forwarding group from a low-orbit satellite constellation, and determining a dynamic link scheduling strategy; controlling the establishment of a virtual broadband link between the collaborative forwarding group and the Internet of Things terminal according to the dynamic link scheduling strategy, and splitting the data to be transmitted; when the data to be transmitted is uplink data, based on the dynamic link scheduling strategy and the virtual broadband link, generating a first fragment scheduling instruction and a first satellite collaborative instruction, sending the first fragment scheduling instruction to the Internet of Things terminal, and sending the first satellite collaborative instruction to the collaborative forwarding group to control the transmission of the uplink data. The present invention has the advantages of high bandwidth, high speed, low latency, high reliability, and anti-interference capability, and provides a new technical solution for Internet of Things applications with large data volume, real-time performance, and wide coverage.

Description

Technical Field

[0001] The present invention relates to the field of data transmission technology, and in particular to a method, device and system for Internet of Things data transmission based on multi-satellite collaboration. Background Art

[0002] In recent years, the rapid growth in the number of IoT devices and the diversification of business demands have placed higher demands on global low-orbit satellite IoT systems in terms of transmission speed, coverage, and link stability. However, existing technologies for IoT data transmission primarily rely on single-satellite or single-path data transmission solutions. The inherent bandwidth limitations of these narrowband transmission channels have become a bottleneck restricting overall system performance. Summary of the Invention

[0003] This invention provides a multi-satellite collaborative IoT data transmission method, device, and system. This method addresses the existing limitations of IoT data transmission, which primarily rely on a single satellite or single path. The inherent bandwidth limitations of these narrowband transmission channels have become a bottleneck restricting overall system performance. This invention offers the advantages of high bandwidth, high speed, low latency, high reliability, and anti-interference capabilities, providing a novel technical solution for IoT applications requiring large data volumes, real-time performance, and wide coverage.

[0004] The present invention provides an Internet of Things data transmission method based on multi-satellite collaboration, which is applied to a ground dispatching center of an Internet of Things data transmission system based on multi-satellite collaboration; the Internet of Things data transmission system includes the ground dispatching center, and an Internet of Things terminal, a low-orbit satellite constellation and a ground data receiving station, all of which are communicatively connected to the ground dispatching center; the Internet of Things terminal is communicatively connected to the low-orbit satellite constellation, and the low-orbit satellite constellation is communicatively connected to the ground data receiving station; the method includes: determining data to be transmitted and monitoring data; the monitoring data includes the position of the Internet of Things terminal, the satellite orbit in the low-orbit satellite constellation and the communication link quality; according to the data to be transmitted and the monitoring data, a cooperative forwarding group is selected from the low-orbit satellite constellation of the Internet of Things data transmission system and a dynamic link scheduling strategy is determined; the cooperative forwarding group includes a plurality of satellites that are currently within the communication range of the Internet of Things terminal and have a communication link quality. The method comprises the steps of: controlling the collaborative forwarding group and the IoT terminal to establish a virtual broadband link according to the dynamic link scheduling strategy, and splitting the data to be transmitted; generating a first shard scheduling instruction and a first satellite collaborative instruction based on the dynamic link scheduling strategy and the virtual broadband link when the data to be transmitted is uplink data, sending the first shard scheduling instruction to the IoT terminal, and sending the first satellite collaborative instruction to the collaborative forwarding group to control the transmission of the uplink data; the first shard scheduling instruction is an instruction for controlling the IoT terminal to determine and send the split uplink data to different low-orbit narrowband satellites in the collaborative forwarding group; and the first satellite collaborative instruction is an instruction for controlling multiple low-orbit narrowband satellites in the collaborative forwarding group to collaboratively receive and forward the split uplink data to the ground data receiving station.

[0005] According to a method for Internet of Things data transmission based on multi-satellite collaboration provided by the present invention, after controlling the establishment of a virtual broadband link between the collaborative forwarding group and the Internet of Things terminal according to the dynamic link scheduling strategy and splitting the data to be transmitted, it also includes: when the data to be transmitted is downlink data, generating a second fragment scheduling instruction and a second satellite collaboration instruction based on the dynamic link scheduling strategy and the virtual broadband link, and sending the second fragment scheduling instruction to the Internet of Things terminal, and sending the second satellite collaboration instruction to the collaborative forwarding group to control downlink data transmission; the second fragment scheduling instruction is an instruction to control the ground data receiving station to determine and send the split downlink data to different low-orbit narrowband satellites in the collaborative forwarding group; the second satellite collaboration instruction is an instruction to control multiple low-orbit narrowband satellites in the collaborative forwarding group to collaboratively receive and forward the split downlink data to the Internet of Things terminal.

[0006] According to a multi-satellite collaborative IoT data transmission method provided by the present invention, the dynamic link scheduling strategy includes a multiplexing mode, a link allocation strategy, a frequency / time slot allocation, a delay threshold, and a data fragmentation granularity; the multiplexing mode includes frequency division multiplexing, time division multiplexing, and code division multiplexing.

[0007] According to the present invention, a multi-satellite collaborative IoT data transmission method further includes: real-time monitoring of the transmission progress and quality of each satellite link; and upon detecting that the current link transmission fails or the quality deteriorates, retransmitting data fragments or adjusting data distribution through redundancy recovery or scheduling other satellite links.

[0008] According to the present invention, a method for Internet of Things data transmission based on multi-satellite collaboration is provided, which also includes: when the first low-orbit narrowband satellite in the current collaborative forwarding group is out of the communication range of the Internet of Things terminal within a preset time, selecting a second low-orbit narrowband satellite from the low-orbit satellite constellation to update the collaborative forwarding group, and updating the dynamic link scheduling strategy and the virtual broadband link according to the updated collaborative forwarding group.

[0009] The present invention also provides an Internet of Things data transmission device based on multi-satellite collaboration, which is applied to a ground dispatching center of an Internet of Things data transmission system; the Internet of Things data transmission system includes the ground dispatching center, and an Internet of Things terminal, a low-orbit satellite constellation and a ground data receiving station, all of which are communicatively connected to the ground dispatching center; the Internet of Things terminal is communicatively connected to the low-orbit satellite constellation, and the low-orbit satellite constellation is communicatively connected to the ground data receiving station; the device includes: a data determination module for determining data to be transmitted and monitoring data; the monitoring data includes the position of the Internet of Things terminal, the satellite orbit in the low-orbit satellite constellation and the communication link quality; a strategy determination module for selecting a collaborative forwarding group and determining a dynamic link scheduling strategy from the low-orbit satellite constellation of the Internet of Things data transmission system according to the data to be transmitted and the monitoring data; the collaborative forwarding group includes a satellite that is currently within the communication range of the Internet of Things terminal and whose communication link quality meets Multiple low-orbit narrowband satellites with preset quality requirements; a link establishment module, used to control the establishment of a virtual broadband link between the cooperative forwarding group and the Internet of Things terminal according to the dynamic link scheduling strategy, and split the data to be transmitted; an uplink data transmission module, used to generate a first fragment scheduling instruction and a first satellite coordination instruction based on the dynamic link scheduling strategy and the virtual broadband link when the data to be transmitted is uplink data, and send the first fragment scheduling instruction to the Internet of Things terminal and the first satellite coordination instruction to the cooperative forwarding group to control the transmission of the uplink data; the first fragment scheduling instruction is an instruction to control the Internet of Things terminal to determine and send the split uplink data to different low-orbit narrowband satellites in the cooperative forwarding group; the first satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the cooperative forwarding group to cooperatively receive and forward the split uplink data to the ground data receiving station.

[0010] According to the present invention, an Internet of Things data transmission device based on multi-satellite collaboration is provided, which also includes: a downlink data transmission module, which is used to generate a second fragment scheduling instruction and a second satellite collaboration instruction based on the dynamic link scheduling strategy and the virtual broadband link when the data to be transmitted is downlink data, and send the second fragment scheduling instruction to the Internet of Things terminal, and send the second satellite collaboration instruction to the collaborative forwarding group to control downlink data transmission; the second fragment scheduling instruction is an instruction to control the ground data receiving station to determine and send the split downlink data to different low-orbit narrowband satellites in the collaborative forwarding group; the second satellite collaboration instruction is an instruction to control multiple low-orbit narrowband satellites in the collaborative forwarding group to collaboratively receive and forward the split downlink data to the Internet of Things terminal.

[0011] The present invention also provides an Internet of Things data transmission system based on multi-satellite collaboration, comprising: a ground dispatching center, configured to perform dynamic virtual broadband link scheduling using the above-mentioned Internet of Things data transmission method based on multi-satellite collaboration, and split the data to be transmitted; the data to be transmitted is uplink data or downlink data; an Internet of Things terminal, the Internet of Things terminal being communicatively connected to the ground dispatching center, and configured to send the split uplink data or receive the reassembled downlink data under the scheduling of the ground dispatching center; a ground data receiving station, the ground data receiving station being communicatively connected to the ground dispatching center, and configured to receive the reassembled uplink data or send the split downlink data under the scheduling of the ground dispatching center; a low-orbit satellite constellation, the low-orbit satellite The constellation is communicatively connected to the ground dispatching center, the Internet of Things terminal and the ground data receiving station respectively, and is used to receive and forward the split uplink data to the ground data receiving station through a collaborative forwarding group under the dispatch of the ground dispatching center, or to receive and forward the split downlink data to the Internet of Things terminal; the collaborative forwarding group is selected by the ground dispatching center from the low-orbit satellite constellation based on the data to be transmitted and the monitoring data; the collaborative forwarding group includes multiple low-orbit narrowband satellites that are currently within the communication range of the Internet of Things terminal and whose communication link quality meets the preset quality requirements; the monitoring data includes the position of the Internet of Things terminal, the satellite orbit in the low-orbit satellite constellation and the communication link quality.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, it implements any of the above-mentioned Internet of Things data transmission methods based on multi-satellite collaboration.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for transmitting Internet of Things data based on multi-satellite collaboration as described above is implemented.

[0014] The present invention provides a method, device, and system for Internet of Things data transmission based on multi-satellite collaboration, which is applied to a ground dispatch center. The method includes: determining data to be transmitted and monitoring data, selecting a collaborative forwarding group from a low-orbit satellite constellation, and determining a dynamic link scheduling strategy; controlling the establishment of a virtual broadband link between the collaborative forwarding group and the Internet of Things terminal according to the dynamic link scheduling strategy to split the data to be transmitted; when the data to be transmitted is uplink data, generating a first fragment scheduling instruction and a first satellite collaborative instruction based on the dynamic link scheduling strategy and the virtual broadband link, sending the first fragment scheduling instruction to the Internet of Things terminal, and sending the first satellite collaborative instruction to the collaborative forwarding group to control the transmission of the uplink data. The present invention has the advantages of high bandwidth, high speed, low latency, high reliability, and anti-interference capability, and provides a new technical solution for Internet of Things applications with large data volumes, real-time performance, and wide coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a flow chart of a method for transmitting Internet of Things data based on multi-satellite collaboration provided by the present invention.

[0017] Figure 2 This is a schematic diagram of the principle of an Internet of Things data transmission system based on multi-satellite collaboration provided by the present invention.

[0018] Figure 3 This is a structural diagram of an Internet of Things data transmission device based on multi-satellite collaboration provided by the present invention.

[0019] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0021] Please refer to Figure 1 , Figure 1A schematic flow chart of a multi-satellite collaborative IoT data transmission method provided by the present invention.

[0022] Please refer to Figure 2 , Figure 2 This is a schematic diagram of the principles of an Internet of Things data transmission system based on multi-satellite collaboration provided by the present invention.

[0023] The present invention provides an Internet of Things data transmission method based on multi-satellite collaboration, which is applied to a ground dispatching center 1 of an Internet of Things data transmission system based on multi-satellite collaboration; the Internet of Things data transmission system includes the ground dispatching center 1, an Internet of Things terminal 2, a low-orbit satellite constellation 4, and a ground data receiving station 3, all of which are communicatively connected to the ground dispatching center 1; the Internet of Things terminal 2 is communicatively connected to the low-orbit satellite constellation 4, and the low-orbit satellite constellation 4 is communicatively connected to the ground data receiving station 3; the method includes:

[0024] 101: Determine data to be transmitted and monitoring data; the monitoring data includes the location of the IoT terminal 2, the satellite orbit in the low-orbit satellite constellation 4, and the quality of the communication link;

[0025] 102: Select a coordinated forwarding group and determine a dynamic link scheduling strategy from the low-orbit satellite constellation 4 of the IoT data transmission system based on the data to be transmitted and the monitoring data; the coordinated forwarding group includes multiple low-orbit narrowband satellites that are currently within the communication range of the IoT terminal 2 and whose communication link quality meets preset quality requirements;

[0026] 103: Control the establishment of a virtual broadband link between the cooperative forwarding group and the IoT terminal 2 according to the dynamic link scheduling policy, and split the data to be transmitted;

[0027] 104: When the data to be transmitted is uplink data, based on the dynamic link scheduling strategy and the virtual broadband link, a first shard scheduling instruction and a first satellite coordination instruction are generated, and the first shard scheduling instruction is sent to the Internet of Things terminal 2, and the first satellite coordination instruction is sent to the coordinated forwarding group to control the transmission of the uplink data; the first shard scheduling instruction is an instruction to control the Internet of Things terminal 2 to determine and send the split uplink data to different low-orbit narrowband satellites in the coordinated forwarding group; the first satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the coordinated forwarding group to coordinately receive and forward the split uplink data to the ground data receiving station 3.

[0028] Considering that most existing solutions rely on a single satellite or a single path for data transmission, resulting in low single-link bandwidth and limited transmission rates, the present invention provides an IoT data transmission method based on multi-satellite collaboration, enabling efficient and reliable IoT data transmission. By leveraging the parallel collaboration of multiple low-orbit narrowband satellites, the present invention constructs a virtual broadband link for a single IoT terminal (2), overcoming the bottlenecks of limited bandwidth and high relay latency of traditional single-path communication.

[0029] Specifically, when an IoT terminal 2 needs to transmit data (for example, when a sensor collects a batch of data to be uploaded), it first sends a service request to the ground dispatch center 1 or is detected by the ground dispatch center 1 through a priori configuration. Due to the rapid movement of low-orbit satellites, more than one satellite may be visible (within line of sight) to a particular IoT terminal 2 at any given moment. Based on this, the ground dispatch center 1 calculates the list of all satellites currently and in the near future visible to the IoT terminal 2 (the set of satellites currently available for terminal communication), as well as the link parameters between each satellite and the IoT terminal 2 (such as estimated channel gain and propagation delay). The dynamic scheduling link manager then selects multiple low-orbit narrowband satellites from the IoT data transmission system's low-orbit satellite constellation 4 to form a coordinated forwarding group and determines the optimal coordination scheme (including multiplexing method and frequency / time slot allocation). For example, if three low-orbit narrowband satellites are simultaneously visible above a particular IoT terminal 2, all of these satellites can participate in serving the IoT terminal 2. The ground dispatch center 1 selects as many low-orbit narrowband satellites with optimal channel conditions as possible to join the coordinated network (coordinated forwarding group), which will jointly carry the data stream of IoT terminal 2 via parallel narrowband links. This allows IoT terminal 2 to no longer communicate with a single satellite, but instead utilizes the transmission resources of multiple satellites simultaneously. The ground dispatch center 1 assigns the transmission task for IoT terminal 2 to the selected coordinated forwarding group. It issues coordinated working instructions (first satellite coordination instructions) to the relevant satellites, including the terminal identification, allocated frequency or time slot resources, and the order in which data segments should be received. It also sends link access parameters (first fragment scheduling instructions) to IoT terminal 2, informing it that it can transmit on frequencies f1, f2, or corresponding time slots, and which satellite each fragment should be sent to. IoT terminal 2 then activates its multi-satellite communication module and prepares to establish uplink connections with multiple satellites simultaneously. After this phase, a virtual broadband link is established between IoT terminal 2 and the coordinated forwarding group. By leveraging the parallel links of multiple low-orbit narrowband satellites, previously dispersed narrowband communication resources are aggregated into a single broadband transmission channel serving the same IoT terminal 2.

[0030] Before transmission, IoT Terminal 2's data (e.g., a sensor acquisition file or a stream of data packets) is divided into multiple data segments by the Dynamic Scheduling Link Manager at Ground Dispatch Center 1 according to a specific granularity. For example, if the total data volume is 100KB, the Dynamic Scheduling Link Manager might divide it into five 20KB segments (the specific granularity is determined by link bandwidth and latency optimization). Ground Dispatch Center 1 then assigns a satellite link path to each data segment, specifying which satellite will forward that segment.

[0031] Entering the data transmission phase, IoT Terminal 2 fragments the data to be transmitted according to the first fragment scheduling instruction. During uplink, each fragment is sent to a different target satellite. For example, IoT Terminal 2 modulates fragment 1 onto frequency f1 for transmission, which is received by Satellite A; fragment 2 is received by Satellite B via frequency f2; and so on, until fragment N is received by Satellite N, where N is a positive integer not less than 2 (if using TDM, the data is sent to different satellites sequentially in time slots). Because these uplink transmissions can occur in parallel (or nearly parallel) time, N narrowband links operate simultaneously, effectively providing N times the bandwidth of a single link. The total data to be transmitted can be transmitted in approximately 1 / N the time required by a single link. This "link aggregation" significantly improves the effective throughput experienced by the terminal, creating the illusion of a wider communication channel.

[0032] After each participating satellite receives a data segment from a terminal, if the satellite is within visual range of ground data receiving station 3 (and has a visual link with the ground station), it immediately forwards the segment to ground data receiving station 3 via a downlink in real time, in accordance with the first satellite coordination command. Alternatively, it may downlink the segment later when it returns to visual range (store-and-forward mode). Because multiple satellites transmit to ground data receiving station 3 almost simultaneously, different segments may arrive at ground via different satellites but arrive close in time. After receiving all the segments, ground data receiving station 3 reassembles the data based on their sequence numbers or identifiers, restoring the original terminal data and delivering it to backend applications for processing. Ground dispatch center 1 continuously monitors the transmission progress and quality of each link and adjusts dynamic link scheduling strategies in real time.

[0033] The present invention utilizes a ground dispatch center 1 to monitor the location of an IoT terminal 2, the satellite trajectories within a low-orbit satellite constellation 4, and link quality in real time. It then dynamically selects multiple low-orbit narrowband satellites currently visible to the terminal and offering good channel quality to form a coordinated forwarding group. By using multiple low-orbit narrowband satellites to simultaneously provide narrowband transmission resources, a virtual transmission channel logically equivalent to broadband is constructed, overcoming the limited narrowband capacity of a single satellite.

[0034] The Internet of Things data transmission system based on multi-satellite collaboration of the present invention adopts a collaborative architecture of a ground dispatching center 1, an Internet of Things terminal 2, a low-orbit satellite constellation 4 and a ground data receiving station 3.

[0035] IoT Terminal 2 is a ground-based IoT device (sensor node, end-user device, etc.). It integrates a multi-satellite communication module and can access the narrowband communication links of multiple LEO narrowband satellites simultaneously, based on dispatch instructions (e.g., first-slice dispatch instructions) from Ground Control Center 1. IoT Terminal 2 is responsible for collecting environmental data or receiving downlink dispatch instructions, splitting uplink data according to dynamic link scheduling strategies and sending it to different LEO narrowband satellites, or reassembling downlink data fragments received from multiple satellites. IoT Terminal 2 also includes caching and reassembly capabilities for temporarily storing and reconstructing fragmented data packets.

[0036] The low-Earth-orbit (LEO) satellite constellation 4 consists of multiple low-Earth-orbit (LEO) narrowband satellites, operating at altitudes between 500 and 800 kilometers (e.g., approximately 600 kilometers), providing global coverage. Each satellite is equipped with a narrowband communications transponder, providing a certain bandwidth (e.g., IoT communication channels with a frequency of tens to hundreds of kHz per satellite). Intersatellite links are optional between satellites for state synchronization and simple collaboration, but coordination is primarily achieved through ground-based scheduling. Each satellite receives and forwards uplink data and transmits downlink data when communicating with an IoT terminal 2 within its coverage area. When multiple satellites are simultaneously visible and serve the same IoT terminal 2, they form a collaborative forwarding group, enabling parallel link transmission.

[0037] The ground dispatch center 1 is a central control and dispatching node established on the ground, responsible for global resource management and link scheduling optimization. It obtains real-time ephemeris information, satellite visibility, the status of each link channel (such as signal quality (SNR) and bandwidth occupancy), and the service requirements of IoT terminals 2. Based on this information, the ground dispatch center 1 runs a dynamic scheduling link manager to allocate and adjust link resources. The dynamic scheduling link manager determines which satellites should be used for parallel transmission of data from a particular IoT terminal 2 at a given moment, as well as the multiplexing strategy to be used. The ground dispatch center 1 issues coordinated forwarding instructions to the relevant satellites and distributes link access parameters and scheduling plans to IoT terminals 2. The ground dispatch center 1 is also connected to a ground data receiving station 3. This station collects and reassembles uplink data fragments from multiple satellites, or sends downlink data fragments to the corresponding satellite.

[0038] The Dynamic Scheduling Link Manager, a core functional module of the Ground Scheduling Center 1, implements dynamic link scheduling and management using real-time algorithms. Its responsibilities include: calculating the set of available satellites based on satellite orbits and terminal positions; monitoring parameters such as bandwidth, latency, and bit error rate (BER) of each satellite link; selecting satellite nodes and the number of links participating in the collaboration according to a predefined strategy; determining the data fragmentation size (the minimum fragmentation granularity for a link can be configured, such as by data packet or fixed byte block) and allocation scheme; selecting the multiplexing method (frequency division, time division, or code division) and scheduling the transmission order or frequency band for each link; and configuring necessary redundancy or error correction coding to enhance reliability. The manager sets latency thresholds (for example, a terminal data upload latency requirement of less than a few seconds) and link bandwidth utilization thresholds based on quality of service requirements. Using optimization algorithms, it maximizes aggregate bandwidth while meeting latency requirements. It also promptly reschedules when link status changes or satellite handoffs occur, ensuring transmission continuity and stability.

[0039] Ground Data Receiving Station 3 (data center) is a satellite communication gateway located on the ground, used to transmit and receive data with low-orbit narrowband satellites. For uplink data from IoT Terminal 2, Ground Data Receiving Station 3 receives fragmented data packets from different satellites almost simultaneously, caches and reassembles them, recovers the original information in sequence, and sends them to the IoT application backend for processing. For downlink data, Ground Data Receiving Station 3, based on instructions from Ground Dispatch Center 1, splits the data to be sent into multiple segments and transmits them simultaneously to the target IoT Terminal 2 via different satellites. The Data Receiving Station interacts closely with Ground Dispatch Center 1, providing link measurement feedback (such as which satellite link experienced packet loss and latency) for further scheduling optimization.

[0040] These modules work together to form a complete system. IoT Terminal 2 simultaneously utilizes the narrowband links of multiple low-orbit satellites to create a "virtual broadband" data channel. Ground Dispatch Center 1 and the Link Management Module ensure the dynamic formation and efficient utilization of this channel. Satellite-coordinated forwarding and ground station data reorganization ensure the accuracy and reliability of information transmission.

[0041] As a preferred embodiment, after establishing a virtual broadband link between the cooperative forwarding group and the Internet of Things terminal 2 according to the dynamic link scheduling strategy and splitting the data to be transmitted, it also includes: when the data to be transmitted is downlink data, based on the dynamic link scheduling strategy and the virtual broadband link, generating a second fragment scheduling instruction and a second satellite collaborative instruction, and sending the second fragment scheduling instruction to the Internet of Things terminal 2, and sending the second satellite collaborative instruction to the cooperative forwarding group to control downlink data transmission; the second fragment scheduling instruction is an instruction to control the ground data receiving station 3 to determine and send the split downlink data to different low-orbit narrowband satellites in the cooperative forwarding group; the second satellite collaborative instruction is an instruction to control multiple low-orbit narrowband satellites in the cooperative forwarding group to collaboratively receive and forward the split downlink data to the Internet of Things terminal 2.

[0042] In this embodiment, accelerated data transmission in the downlink direction is supported. When a large amount of data (such as a firmware upgrade package) needs to be sent to a certain IoT terminal 2 and time is urgent, the ground dispatch center 1 can split the downlink data into multiple satellites and send them separately. Based on the dynamic link scheduling strategy and the virtual broadband link, a second fragment scheduling instruction and a second satellite coordination instruction are generated, and the second fragment scheduling instruction is sent to the IoT terminal 2, and the second satellite coordination instruction is sent to the coordination forwarding group. The multi-satellite communication module of the IoT terminal 2 simultaneously receives non-repeated data fragments from different satellites and reassembles and restores them locally. This avoids the long wait for downlink transmission caused by insufficient bandwidth of a single satellite. However, since the downlink demand in most IoT scenarios is relatively small and the terminal receiving capacity is limited, the application of virtual broadband links in the downlink direction is used as appropriate depending on the terminal performance.

[0043] The virtual broadband link constructed by this invention effectively overcomes the limitations of a single low-orbit satellite's narrowband pipeline, enabling the coordinated utilization of multiple narrowband link resources. If a terminal has high throughput requirements or strict latency requirements, the ground dispatch center 1 can dynamically invoke multi-satellite collaborative services, providing superior transmission performance compared to traditional solutions.

[0044] As a preferred embodiment, the dynamic link scheduling strategy includes multiplexing mode, link allocation strategy, frequency / time slot allocation, delay threshold and data fragmentation granularity; the multiplexing mode includes frequency division multiplexing, time division multiplexing and code division multiplexing.

[0045] The ground dispatch center 1 of the present invention is equipped with a dynamic scheduling link manager. By obtaining real-time information about the signal quality, bandwidth usage, latency, and other parameters of each satellite link, and combining them with terminal service requirements, it automatically calculates and determines the optimal number of transmission links and data fragmentation scheme. Dynamic adjustments are made based on link status. When a link channel deteriorates, the system can quickly transfer the corresponding data fragments to other backup satellites, thereby achieving load balancing and optimal resource utilization.

[0046] Based on the needs of IoT Terminal 2 and satellite resources, Ground Dispatch Center 1 determines the number N of parallel links and the corresponding multiplexing method. For example, during peak upload times for IoT Terminal 2 and when M satellites are visible, it may select N = min(M, Nmax) parallel links, where Nmax is determined by the hardware capabilities of IoT Terminal 2 (e.g., IoT Terminal 2 supports a maximum of four concurrent links). The Dynamic Link Scheduling Manager evaluates the channel quality and bandwidth of each potential link. If a satellite link is overly congested or has a weak signal, it may be eliminated, ensuring that all selected links meet quality thresholds.

[0047] To enable multiple satellites to simultaneously transmit data for the same terminal without interfering with each other, this embodiment employs a flexible multiplexing mechanism. Depending on the actual application scenario, terminal capabilities, and interference conditions, frequency division multiplexing (FDM), time division multiplexing (TDM), or optional code division multiple access (CDMA) can be selected to separate and aggregate the narrowband channel resources of multiple satellites. In FDM mode, each satellite is allocated a different carrier frequency band; in TDM mode, inter-satellite communication timing is staggered by dividing time slots. Where necessary, technologies such as spread spectrum coding can be used to enable parallel transmission of co-frequency resources.

[0048] Specifically, frequency division multiplexing (FDM): By default, each participating satellite allocates a different uplink / downlink carrier frequency or channel to IoT Terminal 2. IoT Terminal 2's multi-satellite communication module can simultaneously transmit or receive on different frequencies, achieving orthogonal separation of the frequency bands. For example, satellites A, B, and C communicate with the terminal using frequency bands f1, f2, and f3, respectively. These three links have non-overlapping spectrum and can therefore operate simultaneously without co-channel interference. Frequency division multiplexing fully utilizes the bandwidth supported by the terminal's RF front-end, enabling true parallel transmission. However, IoT Terminal 2 requires multi-frequency simultaneous transmission and reception capabilities (such as multi-channel RF or fast frequency hopping). For narrowband IoT Terminal 2, this is typically considered during design to ensure multi-channel mode can be enabled when necessary.

[0049] Time Division Multiplexing (TDM): TDM can be used in scenarios where terminal radio frequency resources are limited or spectrum resources are constrained. A dynamic scheduling link manager assigns different time slots to each cooperating satellite to communicate with IoT Terminal 2 in turn. For example, Satellite 1 transmits Data Segment 1 in Time Slot 1, Satellite 2 transmits Data Segment 2 in the immediately following Time Slot 2, and so on. Because each satellite alternates using the terminal channel, co-channel interference is eliminated, allowing IoT Terminal 2 to communicate with multiple satellites using a single channel within rapidly switching time slots. While strictly speaking, TDM links are not transmitted simultaneously, the rapid switching (time slot lengths can be designed to be in the millisecond range) allows multiple satellites to participate in data transmission within a short period of time, achieving a near-parallel effect. TDM is simple to implement and places lower demands on terminals, but it also results in a slight loss in effective overall bandwidth (because each link occupies a time segment rather than a continuous one).

[0050] Code division multiplexing (CDMA or signal merging): For systems with higher-order communication capabilities, advanced technologies such as code division multiplexing or coordinated beamforming can be introduced. For example, different satellites are assigned different spreading codes, allowing the IoT terminal 2 to receive signals sent by multiple satellites at the same time in the same frequency band, and separate the data of each satellite through correlation decoding. Another example is to use multi-satellite coordinated transmission to form a distributed MIMO effect. If the terminal has multiple antennas, spatial multiplexing gain can be achieved. In practice, the narrowband IoT terminal 2 generally has only a single antenna, so code division multiple access is more feasible: the terminal decoding complexity increases, but it can maximize concurrency. However, in low-orbit IoT applications, the code division scheme is difficult to implement and requires strict synchronization of transmission between satellites. This usually requires precise inter-satellite collaboration and strong terminal computing power. Therefore, it is used as an optional enhancement in the present invention.

[0051] In general, the system defaults to frequency division multiplexing to obtain maximum parallel gain. When the terminal or spectrum conditions cannot be met, the time division scheme is used instead. Code division / signal merging is only considered in special high-end scenarios.

[0052] In FDM mode, to avoid interference, each link must be allocated independent frequency resources. Ground dispatch center 1 divides N sub-bands (e.g., 50 kHz each) from a pool of available narrowband frequency bands and assigns them to the N links. In TDM mode, a cyclic frame structure is planned, dividing the total time frame into N equal-length time slots, which are allocated to different satellites. A dynamic link scheduler adjusts the length of each time slot based on the data segment size and link rate, ensuring that each satellite transmits its own segment in exactly one or more time slots.

[0053] For uplink, IoT Terminal 2 transmits its own data segments to N satellites almost simultaneously (FDM) according to scheduling instructions, or transmits them sequentially to different satellites according to their time slots. For downlink, Ground Data Receiving Station 3 sends data segments synchronously to each corresponding satellite, which then transmits them simultaneously to IoT Terminal 2 (FDM), or the satellites stagger their transmissions according to instructions (TDM). The system uses pipelining technology to ensure that data is always available on the link: while the current batch of segments is being transmitted, the next batch is already ready, and as much data as possible is transmitted during the satellite overhead window.

[0054] Delay threshold requirements: The system should set the maximum end-to-end tolerable delay based on the application scenario. For example, for general environmental monitoring data, the threshold can be several seconds; for emergency alarm data, the requirement is less than 1 second. The scheduling management of the present invention will ensure that data transmission is completed within the threshold. The duration of the satellite overhead connection is taken into account during scheduling (usually covering several consecutive minutes), ensuring that data fragments are transmitted and retransmitted within a single transit window to avoid long delays caused by fragments spanning multiple transits. If the amount of data is too large to be transmitted in a single transit, at least the high-priority portion should be transmitted within the threshold.

[0055] Data fragmentation granularity: The minimum fragmentation granularity of a link depends on the communication protocol's MTU (Maximum Transmission Unit) and link latency characteristics. Generally, a single IoT application data packet or a fragment of a few to tens of bytes is a reasonable size. If the fragment size is too small, while parallelism is high, the overhead of fragment management and assembly increases. If the fragment size is too large, the transmission time of each fragment is long, which is not conducive to the realization of parallel advantages. Typically, a fragment size of 500 bytes can be set, for example. This takes tens of milliseconds to complete on a 50kHz narrowband link, and can overlap well when multiple links are running concurrently. The dynamic link scheduling manager can also dynamically adjust the fragment size based on the link rate: increasing the fragment length to reduce the number of fragments when the link rate is high, and reducing the fragment length to reduce the transmission time of each fragment when the rate is low, allowing for flexible adaptation.

[0056] As a preferred embodiment, it also includes: real-time monitoring of the transmission progress and quality of each satellite link; when it is detected that the current link transmission fails or the quality deteriorates, redundancy recovery or scheduling other satellite links to retransmit data segments or adjust data distribution.

[0057] In this embodiment, the ground dispatch center 1 continuously monitors the transmission progress and quality of each link and adjusts the dynamic link scheduling strategy in real time. Multi-path parallel transmission also introduces the possibility of segment loss. The scheduling strategy includes an ACK / NACK (Acknowledgment / Negative Acknowledgment) feedback mechanism. If a segment from a satellite is blocked (lost or excessively delayed), the IoT terminal 2 or ground data receiving station 3 sends a retransmission request for the missing segment. The dynamic scheduling link manager can implement a retransmission mechanism or retransmit the corresponding segment via other idle satellites to ensure final data integrity. Through this "multi-transmission synthesis" process, the narrowband transmissions from multiple satellites are logically combined into a broadband transmission. The existence of this virtual broadband link is transparent to the IoT terminal 2 and applications. The IoT terminal 2 simply sends data to the network according to the protocol, and the backend receives the complete data without worrying about the specific number of satellites it passed through. For example, feedback from the ground data receiving station 3 indicates that satellite A has successfully transmitted segment 1 without errors, while satellite B encountered interference while transmitting segment 2 and needs to retransmit. In this case, the dynamic scheduling link manager can instantly adjust the dynamic link scheduling strategy. If segment 2 is not received for a long time, satellite C can be instructed to retransmit segment 2 on behalf of satellite B, or IoT terminal 2 can be notified to retransmit the segment on the next available frequency to improve the success rate. During the downlink process, ground data receiving station 3 injects data segments into the downlink queues of satellites A, B, …, N. Each satellite transmits the segments to IoT terminal 2 according to the instructions, and IoT terminal 2 receives and reassembles the segments. After IoT terminal 2 has transmitted all segments uplink, it waits for confirmation from ground data receiving station 3. Ground data receiving station 3 reassembles the data, verifies the integrity, and sends an ACK. If any segments are lost, the segment number to be retransmitted is notified, and IoT terminal 2 or ground data receiving station 3 retransmits the missing segments according to a coordinated strategy. This ensures reliable data transmission under scheduling management.

[0058] Alternatively, forward error correction codes can be used during initial transmission to provide partial redundancy, allowing IoT terminals 2 and ground data receiving stations 3 to recover data even when a small number of fragments are missing. For example, five fragments can be divided to transmit four valid data fragments, leaving one redundant fragment for error recovery. The redundancy ratio is dynamically adjusted based on the channel bit error rate to balance overhead and reliability. This invention achieves high parallelism in multi-satellite coordinated communications while minimizing interference and conflicts, and ensures complete data transmission in complex and dynamic environments.

[0059] Considering that when a satellite link is interfered with or overloaded, the system lacks dynamic adjustment and backup switching mechanisms, which can easily cause transmission interruption or increased delay. In the above working logic, the present invention also incorporates multiple anti-interference adjustment mechanisms to ensure stable operation of the system in complex electromagnetic environments:

[0060] Spectrum Interference Avoidance: The dynamic link scheduling manager monitors the interference level of each coordinated link in real time. If strong interference is detected on a frequency band on a path (e.g., increased noise in an adjacent band or occupation by another system), the link's frequency resources are rapidly adjusted to a frequency with less interference. The IoT terminal 2 and the satellite are simultaneously notified to update their configuration accordingly. This adaptive frequency hopping mechanism minimizes the impact of environmental interference on transmission.

[0061] Link Quality Sensing and Power Control: Both satellites and IoT terminals 2 can measure received signal strength and signal-to-noise ratio (SNR). The ground dispatch center 1 aggregates this information and appropriately increases the transmit power (within the permitted range of the satellite and terminal amplifiers) for links with low SNRs, or employs stronger forward error correction (FEC) to reduce the bit error rate and prevent data loss due to weak signals. In a multi-satellite scenario, if the quality of a particular link is significantly inferior to others, the dynamic link scheduling manager can dynamically reduce the amount of data allocated to that link (reducing its load) or temporarily remove it from the coordinated forwarding group, prioritizing the stability of the primary link.

[0062] Redundant Routing and Load Balancing: When interference renders some links completely unavailable, the system automatically activates redundant satellite links. For example, if three satellites are originally scheduled to coordinate, but one is severely interfered with and unable to communicate, the ground dispatch center 1 will promptly deploy a fourth satellite to replace it, or have the remaining two satellites share the data originally handled by the three links. The IoT terminal 2 does not need to worry about this adjustment; the dynamic link scheduling manager will accordingly update the segment scheduling strategy to maintain smooth data flow. Furthermore, load balancing is performed under normal circumstances. Based on each satellite's current workload and bandwidth usage, the size or number of data segments is appropriately allocated to avoid overloading one link while leaving others idle, maximizing overall resource utilization. This invention incorporates an adaptive frequency hopping mechanism based on spectrum monitoring, power regulation, and redundant routing strategies to ensure seamless connectivity during environmental interference or satellite handoffs. If a satellite experiences reduced viewing angle or strong interference, the ground dispatch center 1 can predict and initiate a link handoff in advance, dynamically introducing a new satellite to participate in transmission and ensuring uninterrupted transmission.

[0063] Security and Encryption: Before sending data, the terminal divides the data into segments according to a dynamic scheduling scheme. Each data segment is transmitted in parallel via different satellites. The ground data receiving station 3 is responsible for caching and reassembling the segments to restore the complete data. Although not a measure to protect against physical interference, it is worth noting that the multi-satellite collaborative mode also improves security against interception and interference. The data from the IoT terminal 2 is split and sent via different paths. An interceptor must intercept all segments simultaneously to piece together the complete information. The system also applies end-to-end encryption and integrity verification to each segment. Even if a link is tampered with, it can be detected and corrected, ensuring the confidentiality and accuracy of data transmission.

[0064] Through the above collaborative logic and anti-interference mechanism, the present invention ensures that data from IoT Terminal 2 can be stably and quickly delivered to its destination even in the presence of high-speed satellite motion, link interruptions, and external interference. This flexible multi-satellite collaborative design greatly enhances system robustness.

[0065] As a preferred embodiment, it also includes: when the first low-orbit narrowband satellite in the current cooperative forwarding group is out of the communication range of the Internet of Things terminal 2 at a preset time, a second low-orbit narrowband satellite is selected from the low-orbit satellite constellation 4 to update the cooperative forwarding group, and the dynamic link scheduling strategy and virtual broadband link are updated according to the updated cooperative forwarding group.

[0066] In this embodiment, during data transmission, the satellite's viewing angle relative to IoT terminal 2 constantly changes. When a coordinated satellite (the first low-orbit narrowband satellite) is about to leave its field of view (for example, below a certain elevation angle threshold, such as 10 degrees), ground dispatch center 1 detects this in advance and initiates a link handover process. The ground dispatch center 1 selects a newly visible satellite (the second low-orbit narrowband satellite) to join the coordinated forwarding group and relays any unsent segments or segments requiring retransmission to the new satellite. The ground dispatch center 1 also notifies IoT terminal 2 to switch the corresponding frequency / time slot to the new satellite. The handover between the new and old satellites is smooth during the brief overlapping visibility period, ensuring that IoT terminal 2's virtual broadband link continues uninterrupted. Once all data transmission is complete and verified, ground dispatch center 1 instructs IoT terminal 2 and the satellite to release relevant resources. IoT terminal 2 exits multi-satellite communication mode and returns to normal standby mode, and the coordinated satellite group disbands to free up frequencies and time slots for other services. Ground dispatch center 1 records the performance metrics of this transmission (total transmission time, number of retransmissions, etc.) for subsequent optimization of dynamic link scheduling strategies.

[0067] In order to ensure the feasibility of the above technical solution, the present invention describes and recommends values ​​for the key parameters involved in each module and mechanism in the system:

[0068] Satellite constellation parameters: A low-orbit satellite altitude of 500-800 kilometers is recommended to balance coverage and link latency. (At an altitude of approximately 500 km, single-hop latency is approximately 3-5 milliseconds, meeting low latency requirements.) Satellite orbits can be arranged using polar orbits or inclined orbits in a multi-orbit plane, with the total number of satellites determined by coverage requirements (e.g., dozens to hundreds). Satellite communication beams typically have a coverage diameter of hundreds of kilometers, ensuring that any ground terminal will have at least one to three satellites visible at most times. Intersatellite links between satellites can use laser or microwave links, with latency in the tens of milliseconds. These links can assist with coordination but are not essential.

[0069] Communication frequency bands and bandwidth: IoT narrowband communications can utilize UHF (Ultra High Frequency) bands (e.g., 400-800 MHz) or L / S bands (1-3 GHz) to penetrate the atmosphere and buildings. Each satellite allocates a narrowband carrier bandwidth, such as 50 kHz or 180 kHz (standard NB-IoT bandwidth), for terminal use. When communicating with multiple satellites, a terminal occupies multiple carriers. The aggregate equivalent bandwidth is calculated as the bandwidth of a single carrier multiplied by the number of parallel channels. For example, 4 carriers x 50 kHz = a total bandwidth of 200 kHz. The terminal radio frequency must be able to tune to at least a ±Δf range to cover all coordinated frequencies. Due to spectrum regulations, the number of frequency-division channels per satellite is also limited, generally supporting no more than 10 narrowband channels in parallel. In a time-division scheme, the time slot length can be set to a cycle of 20-50 ms to balance switching overhead and real-time performance.

[0070] Scheduling Period and Handover Threshold: The dynamic link scheduler should periodically (e.g., every second or less) reassess satellite visibility and link performance. Link handover should be triggered in advance if the satellite elevation angle falls below a certain threshold (e.g., 10°) or if signal quality falls below a threshold. The handover process between a new satellite joining and an old one leaving should include an overlap period of several seconds to provide redundancy. During this overlap period, the new and old satellites may simultaneously receive and transmit some redundant segments, ensuring a smooth handover. The scheduling algorithm must respond quickly to satellite entry and departure. A combination of prediction and real-time correction is recommended to improve the accuracy and timeliness of handover decisions.

[0071] Power and Coding Parameters: The transmit power of IoT Terminal 2 is typically in the 0.1-1 watt range (calculated based on the satellite link budget to achieve the required SNR). Satellite retransmission power also needs to be controlled to prevent interference and conserve energy. For uplink and downlink coding, robust channel coding such as LDPC (Low-Density Parity-Check) or Polar codes can be used. For latency-insensitive data, ARQ retransmission mechanisms can be enabled, while sensitive data relies more on first-pass successful transmission and forward error correction. The proportion of redundant segments, p, can be dynamically set based on channel quality, Q. For high Q, p = 0 (no redundancy), for medium Q, p = 10%, and for poor Q, p = 20% or even higher, to achieve higher transmission success rates.

[0072] Terminal Multi-Satellite Module Capability: IoT Terminal 2 hardware must support simultaneous access to N satellites. Generally speaking, N = 2-4 is sufficient for most applications (considering terminal cost and power consumption constraints). This means the terminal has an equal number of parallel demodulation channels or the ability to rapidly switch and demodulate signals from different satellites in milliseconds. The terminal antenna should be omnidirectional or have wide coverage to simultaneously cover signals from satellites in different directions. If necessary, a multi-antenna array can be used to increase gain, but IoT Terminal 2 is mostly a low-cost device and tends to use a single omnidirectional antenna.

[0073] The above parameters can be adjusted according to specific application scenarios and needs. The present invention provides guiding principles for parameter selection to ensure that there is a basis for reference during the implementation process. For example, in the constellation planning stage, the height and number of satellites can be determined according to the size of the service area and the number of terminals; in the terminal design stage, the radio frequency channels can be configured according to the required number of parallel links, etc. Reasonable parameter configuration will enable this technical solution to fully exert its performance advantages when it is implemented, while keeping costs controllable and easy to implement, in line with engineering application requirements. In summary, the technical solution of the present invention achieves a breakthrough improvement in low-orbit narrowband Internet of Things data transmission by creating virtual broadband links through multi-satellite collaboration, combined with flexible multiplexing and intelligent scheduling. Compared with the existing technology, this solution has a complete structure and rigorous logic, and clearly distinguishes the limitations of known solutions, providing a feasible technical approach for realizing the next generation of low-orbit Internet of Things high-speed transmission networks.

[0074] Implementation scenario 1: Real-time upload of regional environmental monitoring data

[0075] In the suburbs of a certain city, multiple weather monitoring terminals are deployed to collect real-time data such as temperature, humidity, and wind speed. Because IoT terminals 2 are densely distributed in the area, and the narrowband resources of a single low-orbit satellite are insufficient to meet the real-time data upload requirements, the solution of the present invention achieves virtual broadband data transmission through multi-satellite collaboration.

[0076] Technical implementation steps:

[0077] (1) Link establishment: The meteorological monitoring terminal sends a data transmission request to the ground dispatch center 1. The ground dispatch center 1 determines the four low-orbit satellites currently visible based on the terminal's GPS (Global Positioning System) position and satellite ephemeris information. The ground dispatch center 1 issues instructions for using four independent frequency bands (for example, f1 = 402 MHz, f2 = 404 MHz, f3 = 406 MHz, and f4 = 408 MHz) to the meteorological monitoring terminal and the corresponding satellites.

[0078] (2) Data segmentation: The 100KB meteorological data collected by the meteorological monitoring terminal is divided into four 25KB segments of equal size by the dynamic link scheduling manager and distributed to four links respectively.

[0079] (3) Data transmission: The meteorological monitoring terminal uses four frequency division links to send each data fragment at the same time. After receiving the data, the four satellites forward the data to the ground data receiving station 3 through the downlink in real time.

[0080] (4) Data reassembly: The ground data receiving station 3 completes the caching and sequential reassembly of each data fragment within 30 seconds and transmits the complete data to the background system.

[0081] (5) Link maintenance: If a satellite fails to transmit due to a decrease in signal quality, the dispatch center will immediately instruct other satellites to make up for the loss to ensure data integrity.

[0082] In regional environmental monitoring scenarios, the solution of the present invention can collaboratively construct a virtual broadband link through multiple satellites, enabling meteorological monitoring terminals to simultaneously utilize multiple narrowband channels for parallel data transmission. Practical applications have verified that the implementation of the solution of the present invention significantly improves data transmission efficiency, significantly reduces transmission latency, and maintains high continuity and stability during terminal data transmission. Furthermore, the multi-link coordination mechanism ensures that when some satellite links are restricted or interfered with, other links can promptly supplement them. The overall system exhibits strong robustness and fault tolerance, meeting the real-time and data integrity requirements of environmental monitoring.

[0083] Implementation scenario 2: Industrial site video surveillance data transmission

[0084] In an industrial park, multiple video surveillance terminals are deployed to monitor the status of production equipment in real time. Because the amount of surveillance video data is large, high transmission speed and stability are required, which is difficult to carry with a single satellite's narrowband. Therefore, the solution of the present invention is used to achieve multi-satellite coordinated transmission.

[0085] Technical implementation steps:

[0086] (1) Link establishment: When the monitoring terminal detects abnormal video data, it automatically sends a transmission request to the ground dispatch center 1. The ground dispatch center 1 selects the three currently visible satellites based on the real-time satellite visibility and uses hybrid frequency division / time division multiplexing to allocate three independent frequency bands and corresponding time slots to the monitoring terminal.

[0087] (2) Data segmentation and scheduling: The monitoring terminal divides a piece of monitoring video data (about 200KB) into three segments and dynamically allocates the size of each segment according to the link rate to ensure that each data segment can be stably transmitted within a single time slot.

[0088] (3) Data transmission and redundancy: The monitoring terminal sends data fragments through three links at the same time, and partial redundancy technology is used between the links (for example, leaving one piece redundant among four pieces) to prevent interference or instantaneous link failure.

[0089] (4) Data reassembly and feedback: The ground data receiving station 3 synchronizes the time and sequentially splices the received data fragments. When a retransmission request is detected, the ground dispatch center 1 immediately feeds back to the monitoring terminal.

[0090] (5) Link switching and load balancing: When a satellite is temporarily unable to communicate due to a change in viewing angle or channel interference, the ground dispatch center 1 automatically adjusts the dispatch plan and transfers its data load to other satellites to achieve load balancing.

[0091] In industrial field video surveillance applications, this invention significantly improves the transmission rate of video data by rationally sharding large amounts of video data and utilizing a multi-satellite parallel transmission mechanism. Through flexible multiplexing technology, the system effectively alleviates the problem of insufficient bandwidth on a single link, enabling rapid and stable upload of video surveillance data to the backend monitoring center. Furthermore, through dynamic scheduling and load balancing mechanisms, the system can adapt to channel changes in complex environments, ensuring that even if some satellite link signals are interfered with, the overall transmission task can still be completed smoothly, thus ensuring the continuity and real-time performance of industrial field video surveillance.

[0092] Implementation scenario three: emergency alarm and emergency communication scenario

[0093] During emergencies, multiple emergency sensors need to quickly upload alarm data. Because emergency data has extremely high latency requirements and can encounter link instability during transmission, this embodiment employs the pre-scheduling and fast link switching strategies of the present invention to ensure real-time, seamless transmission of alarm data.

[0094] Technical implementation steps:

[0095] (1) Pre-scheduling and link prediction: After triggering an alarm, the emergency sensor immediately sends an emergency data transmission request to the ground dispatch center 1. The ground dispatch center 1 uses the satellite prediction algorithm to calculate the link status of the visible satellites in the next few seconds in advance and determine the optimal satellite cooperative forwarding group (for example, select two satellites).

[0096] (2) Data fragmentation and high-speed uplink: Emergency alarm data (e.g., 200-byte alarm information) is quickly fragmented into two 100-byte segments, and the terminal sends the data to two satellites in a very short time (about 200 milliseconds).

[0097] (3) Link monitoring and automatic switching: During the transmission process, the ground dispatch center 1 monitors the channel quality of the two satellite links in real time. When it detects that the signal of one of the satellites has dropped (for example, the elevation angle is lower than a preset 10° or the signal-to-noise ratio is lower than the threshold), the backup link switching mechanism is immediately activated, instructing the terminal to send the corresponding data through the newly visible satellite in the next available time slot.

[0098] (4) Data reassembly and rapid feedback: The ground data receiving station 3 quickly splices the data fragments sent by the two satellites, performs integrity verification, and feeds back a transmission success signal to the terminal within 1 second; if there is any missing data, it will immediately notify the terminal to retransmit.

[0099] In emergency alarm and emergency communication scenarios, the present invention focuses on its advantages in rapid response and high reliability. By predicting and pre-scheduling the status of satellite links in advance, the system can quickly establish multi-link parallel transmission channels in emergency situations and achieve rapid uplink of alarm data. The dynamic scheduling module can monitor the status of each link in real time and quickly start switching to the backup link when the link conditions change, thereby ensuring the continuity of data transmission. Overall, the present invention exhibits high transmission stability and low latency characteristics in emergency communications, enabling the system to promptly transmit key information to the ground command center, providing strong support for emergency response.

[0100] The beneficial effects of the present invention are as follows:

[0101] (1) The present invention significantly improves transmission rates: Multi-satellite coordinated parallel transmission achieves the "superposition" of narrowband channels, effectively forming a virtual broadband link, which multiplies the effective bandwidth of the terminal. Experimental results show that under the same IoT narrowband conditions, the transmission rate can be increased by 3 to 5 times after adopting the solution of the present invention, meeting the real-time transmission requirements of large amounts of data.

[0102] (2) Reduced end-to-end transmission latency: Through multi-link parallelization and dynamic load balancing, data is fragmented and can be simultaneously transmitted uplink and downlink on multiple satellites, significantly shortening the overall transmission latency. For applications with high real-time requirements (such as emergency alarms), end-to-end latency can be controlled within 1 second.

[0103] (3) Improved system robustness and continuity: The solution of the present invention uses dynamic scheduling and link redundancy mechanisms to quickly switch to a backup link when a path is disrupted by interference or satellite failure, ensuring uninterrupted transmission. Even in complex satellite motion environments, continuous data transmission can be maintained, greatly enhancing system reliability.

[0104] (4) Optimizing satellite resource utilization and system scalability: The ground dispatch center 1 performs global optimization of the allocation of multiple satellite resources, making full use of each satellite's narrowband resources and avoiding the problem of wasted resources on a single satellite. At the same time, this solution has good scalability, is suitable for large-scale IoT deployment, and can flexibly support the business needs of different terminals.

[0105] (5) Enhanced transmission security: Data fragmentation encryption transmission and end-to-end integrity verification are adopted. Even if a certain path is intercepted, the complete data cannot be obtained, which effectively prevents data leakage and tampering and ensures the communication security of the system.

[0106] (6) Wide range of applications and easy integration: The solution structure of the present invention is relatively simple. The core decisions are centrally processed by the ground dispatch center 1. The Internet of Things terminal 2 only needs to have multi-channel narrowband communication capabilities to achieve multi-satellite coordinated transmission. It is easy to integrate and promote in existing Internet of Things terminals 2, and has low requirements on cost and power consumption.

[0107] The following describes the Internet of Things data transmission device based on multi-satellite collaboration provided by the present invention. The Internet of Things data transmission device based on multi-satellite collaboration described below and the Internet of Things data transmission method based on multi-satellite collaboration described above can be referenced to each other.

[0108] Please refer to Figure 3 , Figure 3 This is a structural schematic diagram of an Internet of Things data transmission device based on multi-satellite collaboration provided by the present invention.

[0109] The present invention also provides an Internet of Things data transmission device based on multi-satellite collaboration, which is applied to a ground dispatching center 1 of an Internet of Things data transmission system; the Internet of Things data transmission system includes the ground dispatching center 1, and an Internet of Things terminal 2, a low-orbit satellite constellation 4, and a ground data receiving station 3, all of which are communicatively connected to the ground dispatching center 1; the Internet of Things terminal 2 is communicatively connected to the low-orbit satellite constellation 4, and the low-orbit satellite constellation 4 is communicatively connected to the ground data receiving station 3; the device includes: a data determination module 301, for determining data to be transmitted and monitoring data; the monitoring data includes the location of the Internet of Things terminal 2, the satellite orbit in the low-orbit satellite constellation 4, and the communication link quality; a strategy determination module 302, for selecting a collaborative forwarding group and determining a dynamic link scheduling strategy from the low-orbit satellite constellation 4 of the Internet of Things data transmission system according to the data to be transmitted and the monitoring data; the collaborative forwarding group includes a satellite that is currently within the communication range of the Internet of Things terminal 2 and Multiple low-orbit narrowband satellites whose communication link quality meets preset quality requirements; a link establishment module 303, used to control the establishment of a virtual broadband link between the cooperative forwarding group and the Internet of Things terminal 2 according to the dynamic link scheduling strategy, and to split the data to be transmitted; an uplink data transmission module 304, used to generate a first fragmentation scheduling instruction and a first satellite coordination instruction based on the dynamic link scheduling strategy and the virtual broadband link when the data to be transmitted is uplink data, and send the first fragmentation scheduling instruction to the Internet of Things terminal 2 and the first satellite coordination instruction to the cooperative forwarding group to control the transmission of uplink data; the first fragmentation scheduling instruction is an instruction to control the Internet of Things terminal 2 to determine and send the split uplink data to different low-orbit narrowband satellites in the cooperative forwarding group; the first satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the cooperative forwarding group to cooperatively receive and forward the split uplink data to the ground data receiving station 3.

[0110] As a preferred embodiment, it also includes: a downlink data transmission module, which is used to generate a second fragment scheduling instruction and a second satellite coordination instruction based on the dynamic link scheduling strategy and the virtual broadband link when the data to be transmitted is downlink data, and send the second fragment scheduling instruction to the Internet of Things terminal 2, and send the second satellite coordination instruction to the coordinated forwarding group to control downlink data transmission; the second fragment scheduling instruction is an instruction to control the ground data receiving station 3 to determine and send the split downlink data to different low-orbit narrowband satellites in the coordinated forwarding group; the second satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the coordinated forwarding group to coordinately receive and forward the split downlink data to the Internet of Things terminal 2.

[0111] The Internet of Things data transmission system based on multi-satellite collaboration provided by the present invention is described below. The Internet of Things data transmission system based on multi-satellite collaboration described below and the Internet of Things data transmission method based on multi-satellite collaboration described above can be referenced to each other.

[0112] The present invention also provides an Internet of Things data transmission system based on multi-satellite collaboration, comprising: a ground dispatching center 1, for adopting the above-mentioned Internet of Things data transmission method based on multi-satellite collaboration to perform dynamic virtual broadband link scheduling, and split the data to be transmitted; the data to be transmitted is uplink data or downlink data; an Internet of Things terminal 2, the Internet of Things terminal 2 is communicated with the ground dispatching center 1, and is used to send the split uplink data or receive the reassembled downlink data under the scheduling of the ground dispatching center 1; a ground data receiving station 3, the ground data receiving station 3 is communicated with the ground dispatching center 1, and is used to receive the reassembled uplink data or send the split downlink data under the scheduling of the ground dispatching center 1; a low-orbit satellite The low-orbit satellite constellation 4 is respectively connected to the ground dispatching center 1, the Internet of Things terminal 2 and the ground data receiving station 3 for communication, and is used to receive and forward the split uplink data to the ground data receiving station 3 through the coordinated forwarding group under the dispatch of the ground dispatching center 1, or to receive and forward the split downlink data to the Internet of Things terminal 2; the coordinated forwarding group is selected by the ground dispatching center 1 from the low-orbit satellite constellation 4 according to the data to be transmitted and the monitoring data; the coordinated forwarding group includes multiple low-orbit narrowband satellites that are currently within the communication range of the Internet of Things terminal 2 and whose communication link quality meets the preset quality requirements; the monitoring data includes the position of the Internet of Things terminal 2, the satellite orbit in the low-orbit satellite constellation 4 and the communication link quality.

[0113] The advantages of the present invention are:

[0114] (1) Breaking through the limitations of fixed paths: The solution of the present invention uses multiple satellites to simultaneously forward terminal data, so the IoT terminal 2 does not rely on a single path. Even if one path is interrupted, other paths are still in service, eliminating the need to wait for a single satellite to restore connectivity. This reduces the delay and uncertainty caused by a single path. Compared to fixed-path solutions, the solution of the present invention provides dynamic multi-path selection, significantly improving link availability and continuity.

[0115] (2) Aggregating bandwidth to improve throughput: The solution of the present invention aggregates the capacity of multiple narrowband channels through virtual broadband networking, thereby multiplying the effective bandwidth of the terminal. For example, by simultaneously utilizing 4 satellites with 20kHz bandwidth per satellite, the terminal can obtain an equivalent bandwidth of approximately 80kHz, significantly improving the upload speed of large data messages. This link aggregation capability is not available in the previous single-satellite forwarding mode and can meet the high throughput requirements of IoT Terminal 2 in certain scenarios (such as uploading video surveillance data).

[0116] (3) Parallel transmission reduces latency: Due to the parallel transmission of multiple satellites, the solution of the present invention can complete the transmission of a given amount of data in a shorter time, which effectively reduces the waiting time of the terminal from sending to receiving confirmation. The multiplexed concurrent transmission of the solution of the present invention reduces the total transmission latency to a fraction of the original, meeting the requirements of certain IoT applications with high real-time requirements. The solution of the present invention focuses on transmission acceleration, achieving true low latency and high concurrency.

[0117] (4) Improve resource utilization and reduce waste: The dynamic scheduling of the present invention allows satellite resources to be fully utilized in both the spatial and temporal domains, avoiding the uneven distribution of "one satellite is busy while another is idle." The present invention optimizes resource allocation from the network side, achieving true multi-satellite link-level collaboration and significantly improving the overall system throughput efficiency.

[0118] (5) Simplified terminal participation: The solution of the present invention places the complex link scheduling decision-making in the ground dispatch center 1. The IoT terminal 2 only needs to send and receive according to the instructions issued, without the need for tedious calculations. This improves the practicality of the solution: the IoT terminal 2 with limited resources can also obtain optimized multi-link transmission through network-side intelligence. The IoT terminal 2 only needs hardware to support multi-satellite communication, and does not add much burden on the software.

[0119] (6) Enhanced reliability and stability: The solution of the present invention utilizes the redundancy of multiple links, which naturally provides fault resistance to a certain extent. If a satellite fails or the channel condition of a certain path suddenly deteriorates, the scheduling system can quickly switch to other satellites to take over, seamlessly continue data transmission, and ensure uninterrupted business. This is very important for mission-critical Internet of Things (such as industrial control and emergency communications). Under the single-satellite path solution, once a satellite fails, terminal communication will be interrupted until it switches to the next overhead satellite, resulting in a long communication black window. The solution of the present invention shortens or even eliminates this black window. Furthermore, the parallel operation of multiple links also reduces the impact of single-link failure on the overall system. Data can be compensated by other links, thereby improving the transmission success rate.

[0120] Overall, the solution of the present invention is superior to existing technologies in terms of path diversity, parallel bandwidth utilization, dynamic scheduling, etc. It solves the pain points of existing solutions such as single path, limited bandwidth, and low satellite resource utilization, and provides a more efficient and reliable low-orbit satellite Internet of Things data transmission method.

[0121] Figure 4 The following is a schematic diagram of the structure of an electronic device, such as Figure 4As shown, the electronic device may include: a processor 401, a communications interface 402, a memory 403 and a communication bus 404, wherein the processor 401, the communications interface 402 and the memory 403 communicate with each other via the communications bus 404. The processor 401 may call the logic instructions in the memory 403 to execute an IoT data transmission method based on multi-satellite collaboration, which is applied to a ground dispatching center 1 of an IoT data transmission system based on multi-satellite collaboration; the IoT data transmission system includes a ground dispatching center 1, an IoT terminal 2, a low-orbit satellite constellation 4 and a ground data receiving station 3, all of which are communicatively connected to the ground dispatching center 1; the IoT terminal 2 is communicatively connected to the low-orbit satellite constellation 4, and the low-orbit satellite constellation 4 is communicatively connected to the ground data receiving station 3; the method includes: determining data to be transmitted and monitoring data; the monitoring data includes the location of the IoT terminal 2, the satellite orbit in the low-orbit satellite constellation 4 and the communication link quality; based on the data to be transmitted and the monitoring data, selecting a cooperative forwarding group and determining a dynamic link scheduling strategy from the low-orbit satellite constellation 4 of the IoT data transmission system; the cooperative forwarding group includes the currently Multiple low-orbit narrowband satellites are within the communication range of the Internet of Things terminal 2 and whose communication link quality meets the preset quality requirements; according to the dynamic link scheduling strategy, a virtual broadband link is controlled to be established between the cooperative forwarding group and the Internet of Things terminal 2, and the data to be transmitted is split; when the data to be transmitted is uplink data, based on the dynamic link scheduling strategy and the virtual broadband link, a first fragment scheduling instruction and a first satellite cooperative instruction are generated, and the first fragment scheduling instruction is sent to the Internet of Things terminal 2, and the first satellite cooperative instruction is sent to the cooperative forwarding group to control the transmission of the uplink data; the first fragment scheduling instruction is an instruction to control the Internet of Things terminal 2 to determine and send the split uplink data to different low-orbit narrowband satellites in the cooperative forwarding group; the first satellite cooperative instruction is an instruction to control the multiple low-orbit narrowband satellites in the cooperative forwarding group to cooperatively receive and forward the split uplink data to the ground data receiving station 3.

[0122] Furthermore, the logic instructions in the aforementioned memory 403 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product, stored in a storage medium, includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media capable of storing program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0123] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the Internet of Things data transmission method based on multi-satellite collaboration provided by the above methods, which is applied to a ground dispatching center 1 of an Internet of Things data transmission system based on multi-satellite collaboration; the Internet of Things data transmission system includes a ground dispatching center 1, and an Internet of Things terminal 2, a low-orbit satellite constellation 4 and a ground data receiving station 3, all of which are communicatively connected to the ground dispatching center 1; the Internet of Things terminal 2 is communicatively connected to the low-orbit satellite constellation 4, and the low-orbit satellite constellation 4 is communicatively connected to the ground data receiving station 3; the method includes: determining data to be transmitted and monitoring data; the monitoring data includes the position of the Internet of Things terminal 2, the satellite orbit in the low-orbit satellite constellation 4 and the quality of the communication link; according to the data to be transmitted and the monitoring data, A collaborative forwarding group is selected in the constellation 4 and a dynamic link scheduling strategy is determined; the collaborative forwarding group includes multiple low-orbit narrowband satellites that are currently within the communication range of the Internet of Things terminal 2 and whose communication link quality meets the preset quality requirements; according to the dynamic link scheduling strategy, a virtual broadband link is controlled to be established between the collaborative forwarding group and the Internet of Things terminal 2, and the data to be transmitted is split; when the data to be transmitted is uplink data, a first fragmentation scheduling instruction and a first satellite collaborative instruction are generated based on the dynamic link scheduling strategy and the virtual broadband link, and the first fragmentation scheduling instruction is sent to the Internet of Things terminal 2, and the first satellite collaborative instruction is sent to the collaborative forwarding group to control the transmission of the uplink data; the first fragmentation scheduling instruction is an instruction to control the Internet of Things terminal 2 to determine and send the split uplink data to different low-orbit narrowband satellites in the collaborative forwarding group; the first satellite collaborative instruction is an instruction to control multiple low-orbit narrowband satellites in the collaborative forwarding group to collaboratively receive and forward the split uplink data to the ground data receiving station 3.

[0124] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the Internet of Things data transmission method based on multi-satellite collaboration provided by the above-mentioned methods, and is applied to a ground dispatching center 1 of an Internet of Things data transmission system based on multi-satellite collaboration; the Internet of Things data transmission system includes a ground dispatching center 1, and an Internet of Things terminal 2, a low-orbit satellite constellation 4 and a ground data receiving station 3, all of which are communicatively connected to the ground dispatching center 1; the Internet of Things terminal 2 is communicatively connected to the low-orbit satellite constellation 4, and the low-orbit satellite constellation 4 is communicatively connected to the ground data receiving station 3; the method includes: determining data to be transmitted and monitoring data; the monitoring data includes the position of the Internet of Things terminal 2, the satellite orbit in the low-orbit satellite constellation 4 and the communication link quality; according to the data to be transmitted and the monitoring data, selecting a collaborative forwarding group and determining dynamic forwarding from the low-orbit satellite constellation 4 of the Internet of Things data transmission system Dynamic link scheduling strategy; the cooperative forwarding group includes multiple low-orbit narrowband satellites that are currently within the communication range of the Internet of Things terminal 2 and whose communication link quality meets the preset quality requirements; according to the dynamic link scheduling strategy, a virtual broadband link is controlled to be established between the cooperative forwarding group and the Internet of Things terminal 2, and the data to be transmitted is split; when the data to be transmitted is uplink data, based on the dynamic link scheduling strategy and the virtual broadband link, a first fragmentation scheduling instruction and a first satellite coordination instruction are generated, and the first fragmentation scheduling instruction is sent to the Internet of Things terminal 2, and the first satellite coordination instruction is sent to the cooperative forwarding group to control the transmission of the uplink data; the first fragmentation scheduling instruction is an instruction to control the Internet of Things terminal 2 to determine and send the split uplink data to different low-orbit narrowband satellites in the cooperative forwarding group; the first satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the cooperative forwarding group to cooperatively receive and forward the split uplink data to the ground data receiving station 3.

[0125] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0126] Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented using software plus a necessary general-purpose hardware platform, or of course, hardware. Based on this understanding, the essence of the above technical solution, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for causing a computer device (such as a personal computer, server, or network device) to execute the methods described in each embodiment or certain portions of the embodiments.

[0127] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for Internet of Things data transmission based on multi-satellite collaboration, characterized in that: Applicable to a ground dispatching center of an Internet of Things data transmission system based on multi-satellite collaboration; the Internet of Things data transmission system includes the ground dispatching center, and Internet of Things terminals, a low-orbit satellite constellation, and a ground data receiving station, all of which are communicatively connected to the ground dispatching center; The Internet of Things terminal is communicatively connected to the low-orbit satellite constellation, and the low-orbit satellite constellation is communicatively connected to the ground data receiving station; The method comprises: Determining data to be transmitted and monitoring data; the monitoring data includes the location of the IoT terminal, the satellite orbit in the low-orbit satellite constellation, and the quality of the communication link; selecting a coordinated forwarding group and determining a dynamic link scheduling strategy from a low-orbit satellite constellation of the Internet of Things data transmission system based on the data to be transmitted and the monitoring data; the coordinated forwarding group includes a plurality of low-orbit narrowband satellites that are currently within the communication range of the Internet of Things terminal and whose communication link quality meets preset quality requirements; Controlling the establishment of a virtual broadband link between the cooperative forwarding group and the IoT terminal according to the dynamic link scheduling strategy, and splitting the data to be transmitted; In the case where the data to be transmitted is uplink data, a first slice scheduling instruction and a first satellite coordination instruction are generated based on the dynamic link scheduling strategy and the virtual broadband link, and the first slice scheduling instruction is sent to the Internet of Things terminal, and the first satellite coordination instruction is sent to the coordinated forwarding group to control the transmission of the uplink data; the first slice scheduling instruction is an instruction to control the Internet of Things terminal to determine and send the split uplink data to different low-orbit narrowband satellites in the coordinated forwarding group; the first satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the coordinated forwarding group to coordinately receive and forward the split uplink data to the ground data receiving station.

2. The method for Internet of Things data transmission based on multi-satellite collaboration according to claim 1, characterized in that: After controlling the establishment of a virtual broadband link between the cooperative forwarding group and the IoT terminal according to the dynamic link scheduling strategy and splitting the data to be transmitted, the method further includes: In the case where the data to be transmitted is downlink data, a second slice scheduling instruction and a second satellite coordination instruction are generated based on the dynamic link scheduling strategy and the virtual broadband link, and the second slice scheduling instruction is sent to the Internet of Things terminal, and the second satellite coordination instruction is sent to the coordinated forwarding group to control downlink data transmission; the second slice scheduling instruction is an instruction to control the ground data receiving station to determine and send the split downlink data to different low-orbit narrowband satellites in the coordinated forwarding group; the second satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the coordinated forwarding group to coordinately receive and forward the split downlink data to the Internet of Things terminal.

3. The method for Internet of Things data transmission based on multi-satellite collaboration according to claim 1, characterized in that: The dynamic link scheduling strategy includes multiplexing mode, link allocation strategy, frequency / time slot allocation, delay threshold and data fragmentation granularity; the multiplexing mode includes frequency division multiplexing, time division multiplexing and code division multiplexing.

4. The method for Internet of Things data transmission based on multi-satellite collaboration according to claim 1, characterized in that: Also includes: Real-time monitoring of the transmission progress and quality of each satellite link; When it is detected that the current link transmission fails or the quality is degraded, redundancy recovery or scheduling of other satellite links is used to retransmit data segments or adjust data distribution.

5. The method for Internet of Things data transmission based on multi-satellite collaboration according to any one of claims 1 to 4, characterized in that: Also includes: When the first low-orbit narrowband satellite in the current cooperative forwarding group is out of the communication range of the Internet of Things terminal within a preset time, a second low-orbit narrowband satellite is selected from the low-orbit satellite constellation to update the cooperative forwarding group, and the dynamic link scheduling strategy and the virtual broadband link are updated according to the updated cooperative forwarding group.

6. An Internet of Things data transmission device based on multi-satellite collaboration, characterized in that: A ground dispatching center for an Internet of Things data transmission system; the Internet of Things data transmission system includes the ground dispatching center, as well as Internet of Things terminals, a low-orbit satellite constellation, and a ground data receiving station, all of which are communicatively connected to the ground dispatching center; The IoT terminal is communicatively connected to the low-orbit satellite constellation, and the low-orbit satellite constellation is communicatively connected to the ground data receiving station; The device comprises: a data determination module, configured to determine data to be transmitted and monitoring data; the monitoring data including the location of the IoT terminal, the satellite orbit in the low-orbit satellite constellation, and the quality of the communication link; a strategy determination module, configured to select a coordinated forwarding group from a low-orbit satellite constellation of the IoT data transmission system and determine a dynamic link scheduling strategy based on the data to be transmitted and the monitoring data; the coordinated forwarding group includes a plurality of low-orbit narrowband satellites that are currently within the communication range of the IoT terminal and whose communication link quality meets preset quality requirements; A link establishment module, configured to control the establishment of a virtual broadband link between the cooperative forwarding group and the IoT terminal according to the dynamic link scheduling strategy, and to split the data to be transmitted; An uplink data transmission module is used to generate a first slice scheduling instruction and a first satellite coordination instruction based on the dynamic link scheduling strategy and the virtual broadband link when the data to be transmitted is uplink data, and send the first slice scheduling instruction to the Internet of Things terminal and the first satellite coordination instruction to the coordinated forwarding group to control the transmission of the uplink data; the first slice scheduling instruction is an instruction to control the Internet of Things terminal to determine and send the split uplink data to different low-orbit narrowband satellites in the coordinated forwarding group; the first satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the coordinated forwarding group to coordinately receive and forward the split uplink data to the ground data receiving station.

7. The Internet of Things data transmission device based on multi-satellite collaboration according to claim 6, characterized in that: Also includes: a downlink data transmission module, configured to, when the data to be transmitted is downlink data, generate a second shard scheduling instruction and a second satellite coordination instruction based on the dynamic link scheduling policy and the virtual broadband link, and send the second shard scheduling instruction to the IoT terminal and the second satellite coordination instruction to the coordinated forwarding group to control downlink data transmission; The second fragmentation scheduling instruction is an instruction to control the ground data receiving station to determine and send the split downlink data to different low-orbit narrowband satellites in the cooperative forwarding group; the second satellite coordination instruction is an instruction to control multiple low-orbit narrowband satellites in the cooperative forwarding group to coordinately receive and forward the split downlink data to the Internet of Things terminal.

8. An Internet of Things data transmission system based on multi-satellite collaboration, characterized in that: include: A ground dispatching center, configured to perform dynamic virtual broadband link scheduling using the multi-satellite collaborative IoT data transmission method according to any one of claims 1 to 5, and split the data to be transmitted; the data to be transmitted is uplink data or downlink data; An Internet of Things terminal, the Internet of Things terminal being communicatively connected to the ground dispatching center and configured to send the split uplink data or receive the reassembled downlink data under the dispatch of the ground dispatching center; a ground data receiving station, the ground data receiving station being communicatively connected to the ground dispatching center and configured to receive reassembled uplink data or send split downlink data under the dispatch of the ground dispatching center; A low-orbit satellite constellation, wherein the low-orbit satellite constellation is communicatively connected to the ground dispatching center, the Internet of Things terminal and the ground data receiving station respectively, and is used to receive and forward the split uplink data to the ground data receiving station through a collaborative forwarding group under the dispatch of the ground dispatching center, or to receive and forward the split downlink data to the Internet of Things terminal; the collaborative forwarding group is selected by the ground dispatching center from the low-orbit satellite constellation based on the data to be transmitted and the monitoring data; the collaborative forwarding group includes a plurality of low-orbit narrowband satellites that are currently within the communication range of the Internet of Things terminal and whose communication link quality meets the preset quality requirements; the monitoring data includes the position of the Internet of Things terminal, the satellite orbit in the low-orbit satellite constellation and the communication link quality.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the Internet of Things data transmission method based on multi-satellite collaboration as described in any one of claims 1 to 5 is implemented.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for Internet of Things data transmission based on multi-satellite collaboration as described in any one of claims 1 to 5 is implemented.

Images