Satellite link determination method and device and storage medium

Abstract

The invention relates to a satellite link determination method and device and a storage medium, and the method comprises the steps: selecting an initial access relay from all satellite relays; in the process of receiving satellite service data returned by the initial access relay through the initial satellite link, receiving a first satellite elevation angle sent by each satellite relay, and obtaining a first satellite transmission rate of the satellite relay calculated according to the first satellite elevation angle corresponding to the satellite relay; judging whether the initial access relay needs to be switched according to the first satellite transmission rate; if yes, determining a target access relay from the satellite relays based on the first satellite transmission rate and the first satellite elevation angle, establishing a target satellite link comprising the satellite, the target access relay and the terminal equipment, and switching the initial satellite link to the target satellite link; and otherwise, continuing to receive the satellite service data returned by the initial access relay through the initial satellite link. According to the invention, the problem of low transmission efficiency of a satellite link is solved.

Description

Technical Field

[0001] The present application relates to the field of satellite communication technology, and in particular to a satellite link determination method, device, and storage medium. Background Art

[0002] The integrated space-ground internet network is a comprehensive information network, with a space-based network as its backbone, comprising a deep space network, a neighboring space network (space-based network), and a ground-based network. Satellites play a central role in the space-based network. Low-orbit satellites, in particular, offer significant potential for providing network coverage in remote areas, such as oceans, deserts, and deep forests, due to their large bandwidth and high transmission rates.

[0003] However, practical applications of satellite communications are still limited by multiple factors. First, the high-altitude, long-distance nature of satellites, coupled with the use of microwave frequency bands for signal transmission, results in significant signal losses during atmospheric transmission. Furthermore, non-line-of-sight (NLOS) path interference caused by obstacles such as terrain and buildings blocking ground terminals further exacerbates signal transmission instability. These factors combine to make the transmission rate of satellite links far lower than that of ground-based networks, making it difficult to meet the diverse transmission requirements of various vertical industries.

[0004] Currently, no effective solution has been proposed to the problem of low transmission rate of satellite links in related technologies. Summary of the Invention

[0005] The embodiments of the present application provide a satellite link determination method, apparatus, and storage medium to at least solve the problem of low transmission rate of satellite links in related technologies.

[0006] In a first aspect, an embodiment of the present application provides a satellite link determination method, which is applied to a terminal device connected to multiple satellite relays; the method includes:

[0007] Selecting an initial access relay from each of the satellite relays, and establishing an initial satellite link including a satellite, the initial access relay and the terminal device;

[0008] In the process of receiving the satellite service data returned by the initial access relay via the initial satellite link, receiving a first satellite elevation angle sent by each of the satellite relays, and obtaining a first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay;

[0009] determining, based on the first satellite transmission rate, whether it is necessary to switch the initial access relay;

[0010] If so, based on the first satellite transmission rate and the first satellite elevation angle, the target access relay is determined from each of the satellite relays, a target satellite link including the satellite, the target access relay and the terminal device is established, and the initial satellite link is switched to the target satellite link; otherwise, the satellite service data returned by the initial access relay via the initial satellite link continues to be received.

[0011] In some embodiments, obtaining the first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay includes:

[0012] Obtaining a link establishment time period of the satellite relay, and calculating a predicted satellite elevation angle based on the first satellite elevation angle and the link establishment time period;

[0013] Calculating the first satellite transmission rate according to the predicted satellite elevation angle and a preset elevation rate mapping relationship, wherein the elevation rate mapping relationship is used to indicate a correspondence between different satellite elevation angle data and transmission rate data; or;

[0014] Obtain the first satellite transmission rate sent by the satellite relay; the first satellite transmission rate is calculated by the satellite relay based on the first satellite elevation angle and the link establishment time period, and is calculated based on the predicted satellite elevation angle and the stored elevation rate mapping relationship.

[0015] In some embodiments, determining whether the initial access relay needs to be switched based on the first satellite transmission rate includes:

[0016] Determining a return rate requirement for the satellite service data based on the device information of the terminal device;

[0017] When it is detected that the first satellite transmission rate does not meet the backhaul rate requirement, it is determined that the initial access relay needs to be switched; when it is detected that the first satellite transmission rate meets the backhaul rate requirement, it is determined that the initial access relay does not need to be switched.

[0018] In some embodiments, determining a target access relay from each of the satellite relays based on the first satellite transmission rate and the first satellite elevation angle includes:

[0019] detecting, for each of the satellite relays, whether the first satellite transmission rate meets a preset return rate requirement, and obtaining a first detection result;

[0020] Calculating, based on the first satellite elevation angle, an elevation angle variation trend of the satellite relay, and detecting whether the elevation angle variation trend of each satellite relay is an increasing variation trend, to obtain a second detection result;

[0021] Based on the first detection result and the second detection result, the target access relay is determined from the satellite relays.

[0022] In some embodiments, determining the target access relay from the satellite relays based on the first detection result and the second detection result includes:

[0023] Based on the first detection result, determining whether there is a first satellite relay among the satellite relays whose first satellite transmission rate meets the return rate requirement;

[0024] In the case where the first satellite relay is detected, based on the second detection result, detecting a second satellite relay in the first satellite relay whose elevation angle change trend shows an increasing change trend;

[0025] When multiple second satellite relays are detected, the satellite relay with the smallest elevation angle of the first satellite among each of the second satellite relays is determined as the target access relay; when no second satellite relay is detected, the satellite relay with the largest elevation angle of the first satellite among each of the first satellite relays is determined as the target access relay.

[0026] In some embodiments, before determining the initial access relay from each of the satellite relays, the method further includes:

[0027] Detecting signal strength information corresponding to each adjacent relay node adjacent to the terminal device;

[0028] Based on the signal strength information, a plurality of satellite relays are selected from the neighboring relay nodes.

[0029] In some embodiments, selecting an initial access relay from each of the satellite relays includes:

[0030] Sending a link establishment request to each of the satellite relays;

[0031] receiving a second satellite elevation angle sent by each satellite relay in response to the link establishment request, and obtaining a second satellite transmission rate of the satellite relay calculated based on the second satellite elevation angle corresponding to the satellite relay;

[0032] The initial access relay is determined from the satellite relays according to the second satellite elevation angle and the second satellite transmission rate.

[0033] In some embodiments, the sending of a link establishment request to each of the satellite relays includes:

[0034] Detecting monitoring information of the terminal device on the monitored satellite;

[0035] When it is detected that the monitoring situation information indicates that an abnormality has been triggered, the link establishment request is sent to each of the satellite relays.

[0036] In a second aspect, an embodiment of the present application provides a satellite link determination device, which is applied to a terminal device connected to multiple satellite relays; the device includes:

[0037] an initial selection module, configured to select an initial access relay from each of the satellite relays and establish an initial satellite link including a satellite, the initial access relay and the terminal device;

[0038] a receiving module, configured to receive, during a process of receiving satellite service data returned by the initial access relay via the initial satellite link, a first satellite elevation angle sent by each of the satellite relays, and obtain a first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay;

[0039] a judgment module, configured to judge whether it is necessary to switch the initial access relay according to the first satellite transmission rate;

[0040] A switching module is used to, if necessary, determine a target access relay from each of the satellite relays based on the first satellite transmission rate and the first satellite elevation angle, establish a target satellite link including the satellite, the target access relay and the terminal device, and switch the initial satellite link to the target satellite link; otherwise, continue to receive satellite service data transmitted back by the initial access relay via the initial satellite link.

[0041] In a third aspect, an embodiment of the present application provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the satellite link determination method as described in the first aspect above.

[0042] Compared with the related art, the satellite link determination method, device and storage medium provided in the embodiments of the present application are applied to terminal equipment connected to multiple satellite relays; by selecting an initial access relay from each satellite relay, and establishing an initial satellite link including a satellite, an initial access relay and a terminal device; in the process of receiving satellite service data transmitted back by the initial access relay via the initial satellite link, receiving the first satellite elevation angle sent by each satellite relay, and obtaining the first satellite transmission rate of the satellite relay calculated according to the first satellite elevation angle corresponding to the satellite relay; judging whether it is necessary to switch the initial access relay based on the first satellite transmission rate; if so, determining the target access relay from each satellite relay based on the first satellite transmission rate and the first satellite elevation angle, establishing a target satellite link including the satellite, the target access relay and the terminal device, and switching the initial satellite link to the target satellite link; otherwise, continuing to receive the satellite service data transmitted back by the initial access relay via the initial satellite link.

[0043] Based on this, the terminal device monitors the changes in the elevation angle of each satellite relay relative to the satellite in real time, and combines the satellite elevation angle and the transmission rate calculated based on the satellite elevation angle to jointly screen relay satellite links that meet the bandwidth requirements of services such as video image backhaul. There is no need to wait for the satellite link to switch, but based on its own rate requirements, it selects the relay for switching, thereby realizing the switching method of the terminal device between suitable relay satellite links, ensuring that the satellite backhaul service can be carried out stably and reliably, and ensuring that the terminal device can always work on the satellite link with a high elevation angle, which can reduce transmission loss, reduce noise interference, optimize link resource utilization and improve communication stability, and ultimately effectively solve the problem of low transmission efficiency of the satellite link.

[0044] The details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0046] Figure 1 This is a hardware structure block diagram of a terminal according to a satellite link determination method according to an embodiment of the present application;

[0047] Figure 2 is a schematic diagram of a satellite backhaul networking architecture according to an embodiment of the present application;

[0048] Figure 3 is a flowchart of a satellite link determination method according to an embodiment of the present application;

[0049] Figure 4 is a schematic diagram of a satellite elevation angle and velocity relationship curve according to an embodiment of the present application;

[0050] Figure 5 is a flowchart of another satellite link determination method according to an embodiment of the present application;

[0051] Figure 6 This is a structural block diagram of a satellite link determination device according to an embodiment of the present application. DETAILED DESCRIPTION

[0052] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means and should not be understood as the contents disclosed in the present application being insufficient.

[0053] References to "embodiments" in this application mean that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it refer to independent or alternative embodiments that are mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described in this application may be combined with other embodiments unless there is a conflict.

[0054] Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by persons of ordinary skill in the art to which this application belongs. The terms "a," "an," "an," "the," and similar expressions used herein do not denote limitations on quantity and may refer to either the singular or the plural. The terms "comprise," "include," "have," and any variations thereof, used herein, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or modules (units) is not limited to the listed steps or units but may also include steps or units not listed, or may include other steps or units inherent to the process, method, product, or apparatus. The terms "connected," "connected," "coupled," and similar expressions used herein are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. As used herein, "plurality" means greater than or equal to two. "And / or" describes an association between associated objects, indicating that three possible relationships exist. For example, "A and / or B" may mean: A exists alone; A and B exist simultaneously; or B exists alone. The terms "first", "second", "third" and the like involved in this application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0055] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. Taking running on a terminal as an example, Figure 1 FIG. 1 is a hardware structure diagram of a terminal according to a satellite link determination method of an embodiment of the present application. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0056] Memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the satellite link determination method in the embodiments of the present application. Processor 102 executes the computer programs stored in memory 104 to execute various functional applications and data processing, thereby implementing the aforementioned method. Memory 104 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory remotely located relative to processor 102, and such remote memory may be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0057] Transmission device 106 is used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the terminal's communications provider. In one embodiment, transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0058] This embodiment provides a satellite link determination method, which is applied to a terminal device connected to multiple satellite relays. The terminal device is a ground-based hardware device responsible for data transmission and data processing and analysis between the terminal device and the satellite. The terminal device may include a camera, a computer device, or an embedded system. More specifically, in this application, the application scenario is typically for security monitoring and rescue needs in remote areas such as border defense, forests, deserts, and marine operations that are not covered by ground-based networks. Therefore, considering the actual difficulty of network deployment and operating costs, a terminal device-satellite relay-satellite networking method is adopted.

[0059] See also Figure 2 Terminal devices can be deployed individually in specific monitoring areas. Since the actual monitoring areas are often complex and unobstructed communication with the satellite is difficult, multiple satellite relays are introduced into the communication link, eliminating the need for the terminal device to be within the satellite communication line of sight. The number of terminal devices can be one, or, considering that the actual monitoring area may be relatively large, multiple terminal devices can be deployed.

[0060] Satellite relay is a data relay station that forwards the tracking, measurement and control information of medium and low orbit spacecraft from the earth station and forwards the information sent back to the ground by the spacecraft, providing data relay and measurement and control services for satellites, spacecraft and other spacecraft. Figure 2 As shown, multiple satellite relay nodes are deployed within the satellite's line of sight to ensure a strong signal link with the satellite. Satellite relays enable direct wireless communication with end devices via device-to-device (D2D) communication. They can also access satellite links for data backhaul and forwarding. There are no specific requirements for the type of satellite relay equipment; it can be a dedicated relay device or a video surveillance device that serves as a dual-purpose device.

[0061] In actual networking, multiple relay nodes need to be deployed over a large area so that terminal devices in different locations can select and connect to relay nodes within their monitoring range. Different satellite relays may connect to the same satellite or different satellites. The satellites mentioned here primarily refer to low-orbit constellation satellites, which generally have higher frequency bands and support higher data rates. They are used to provide signal coverage to ground relay points and forward image transmissions from video terminals connected to these relay points. As satellites move, the satellite connected to the same relay point will change as the satellite moves.

[0062] Figure 3 FIG. 1 is a flow chart of a satellite link determination method according to an embodiment of the present application. Figure 3 As shown, the process includes the following steps:

[0063] Step S310: Select an initial access relay from various satellite relays, and establish an initial satellite link including the satellite, the initial access relay, and the terminal device.

[0064] In this step, a relay is first selected from multiple satellite relays as the initial access relay. The selection criteria may include the relay's current status, signal quality, and historical performance, or may be determined based on monitoring data such as satellite elevation angles returned by each satellite relay. Alternatively, considering the possibility of subsequent access relay switching, if permitted by the embodiment, an initial access relay may be randomly selected from each satellite relay.

[0065] After the initial access relay is selected, a communication link is constructed between the terminal device and the satellite, encompassing the satellite, the selected initial access relay, and the terminal device. This initial satellite link serves as the primary path for data transmission from the terminal device to the satellite and back. To meet service requirements, when receiving service data returned from the satellite, the initial access relay transmits the satellite service data to the terminal device via the initial satellite link for analysis and processing. Satellite service data refers to data related to specific services collected by satellites and transmitted via the satellite communication system. The specific content and format of satellite service data depend on the application scenario and service requirements. Common examples of satellite service data include video surveillance data, location information, and meteorological data.

[0066] Step S320, in the process of receiving the satellite service data returned by the initial access relay via the initial satellite link, receives the first satellite elevation angle sent by each satellite relay, and obtains the first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay.

[0067] During the backhaul of satellite service data, each satellite relay can be monitored to ensure the reliability of data communication. Specifically, the terminal device receives the first satellite elevation angle sent by each satellite relay; the first satellite elevation angle refers to the elevation angle between the satellite relay and the satellite, that is, the angle between the satellite relay and the satellite relative to the horizontal plane. The size of the elevation angle directly affects the signal quality and transmission rate of the satellite link. The satellite elevation angle can be used to evaluate the transmission bandwidth potential of the relay satellite link in the future. For example, if the satellite links of the two relay points both meet the terminal rate requirements and the rate change trend is gradually increasing, then it is obvious that the relay point with a smaller elevation angle will be able to maintain the required rate for a longer time in the future.

[0068] Next, based on this first satellite elevation angle data, a pre-defined algorithm or model can be used to accurately calculate the satellite transmission rate of each satellite relay, namely the first satellite transmission rate. This rate is an important indicator of the satellite relay's data transmission capacity under current specific conditions.

[0069] It's worth noting that there are two possible implementations for calculating the first satellite transmission rate. One approach is for the satellite relay to perform the calculation itself. That is, after monitoring the first satellite elevation angle, each satellite relay uses a built-in algorithm or model to calculate the first satellite transmission rate and sends this rate along with the elevation angle information to the terminal device. Another approach is for the terminal device to perform the calculation. In this case, each satellite relay only needs to send the first satellite elevation angle information to the terminal device, which then uses a unified algorithm or model based on all received elevation angle data to calculate the corresponding first satellite transmission rate for each satellite relay. Either approach effectively uses satellite elevation angle information to assess the current transmission performance of the satellite relay, providing strong decision support for path selection, rate adjustment, and other aspects of data backhaul, ensuring the reliability of satellite service data backhaul.

[0070] Step S330: Determine whether it is necessary to switch the initial access relay according to the first satellite transmission rate.

[0071] In this step, the first satellite transmission rate of the currently used initial access relay can be compared with the first satellite transmission rates of other available relays. If the transmission rate of another relay is higher, or if the transmission rate of the current relay drops below a certain threshold, it may be necessary to consider switching the access relay. Otherwise, it can be determined that there is no need to switch the access relay responsible for backhauling satellite service data.

[0072] Step S340: If so, based on the first satellite transmission rate and the first satellite elevation angle, a target access relay is determined from each satellite relay, a target satellite link including the satellite, the target access relay and the terminal device is established, and the initial satellite link is switched to the target satellite link; otherwise, the satellite service data returned by the initial access relay via the initial satellite link continues to be received.

[0073] Specifically, if it is determined through the above steps that the initial access relay needs to be switched, then based on the first satellite transmission rate and the first satellite elevation angle, an optimal relay is selected from the remaining satellite relays other than the initial access relay as the target access relay, and a new communication link is established including the satellite, the target access relay, and the terminal device. Thereafter, the current initial satellite link is switched to the target satellite link, and the terminal device receives satellite service data transmitted back by the target access relay via the corresponding target satellite link, ensuring that data can continue to be transmitted efficiently and stably. Of course, if it is determined that the relay does not need to be switched, satellite service data continues to be received via the initial satellite link.

[0074] It should also be noted that there is a direct correlation between satellite elevation angle and transmission rate. Without considering atmospheric loss, interference, and multipath effects, the greater the satellite elevation angle relative to the satellite relay, the higher the transmission rate; the smaller the satellite elevation angle relative to the satellite relay, the lower the transmission rate. Therefore, for services such as video image backhaul, because their service characteristics require high bandwidth, satellite links at very low elevation angles may not necessarily meet their backhaul rate requirements. Figure 4 The figure shows two symmetrical corner points A and two symmetrical corner points B. Assuming the return rate of the terminal device service requires the satellite elevation angle to be greater than the B angle to meet the transmission rate requirement, the effective satellite elevation angle for service data return is the elevation angle range between the two B angles. However, as the satellite moves, the elevation angle changes from angle A to angle B, or vice versa. Clearly, neither of these two processes can meet the service return rate requirement.

[0075] In related technologies, only when the ground terminal is in the overlapping area of two satellites can it choose to switch to a satellite with a better evaluation. That is, for the relay node that establishes a link between the ground and the satellite, it can only choose to switch to a satellite with a better evaluation when the satellite elevation angle is very low (for example, in Figure 4 It is possible to switch to another satellite only if the terminal reaches the corner point A shown in the figure. Therefore, it can be seen that for terminals with high backhaul rate requirements, their access relay may not be able to work reliably for a long time.

[0076] In response to the above problems, in an embodiment of the present application, by real-time evaluation of the elevation angles of the initial access relay and other satellite relays to their respective docking satellites during the backhaul process, the satellite relay optimization and switching of the terminal device are realized through comprehensive transmission rate calculation, providing reliable transmission bandwidth guarantee. The following describes the specific switching process of one of the access relays when switching is required. First, analyze whether the first satellite transmission rate of each satellite relay calculated in the above steps meets the backhaul rate requirements of the actual business, and for the first satellite elevation angle of each satellite relay, count the elevation angle change trend corresponding to the satellite relay, and determine whether the elevation angle change trend of each satellite relay shows an increasing trend from a small angle to a large angle. Afterwards, based on the above two types of analysis results, select the optimal relay other than the initial access relay from each satellite relay as the switchable target access relay.

[0077] In addition, it should be understood that after the link switch, the terminal device should continue to monitor the performance of the target satellite link and adjust and optimize it as needed. In other words, during the process of the target access relay returning satellite service data via the target satellite link, the satellite link switch determination and switching method described in the above steps can still be used to detect whether the current target access relay needs to be switched, and if so, to which relay the target access relay should be switched. Moreover, for each subsequent access relay, it can also continue to detect whether to switch and to which relay it can be switched. The specific process is similar to the detection process of the initial access relay described above and will not be repeated here.

[0078] Compared with the related art, in which the satellite relay is switched only when the terminal device is in the overlapping area of two satellites, that is, waiting for the satellite link to switch, resulting in a method in which switching is possible only when the satellite elevation angle is very low, in the above-mentioned satellite link determination method, the terminal device monitors the elevation angle changes of each satellite relay relative to the satellite in real time, and combines the satellite elevation angle and the transmission rate calculated based on the satellite elevation angle to jointly screen relay satellite links that meet the bandwidth requirements of services such as video image backhaul. There is no need to wait for the satellite link to switch, but based on its own rate requirements, the relay is preferably switched, thereby realizing the switching method of the terminal device between suitable relay satellite links, ensuring that the terminal device can always work on a satellite link with a high elevation angle, reducing transmission loss, reducing noise interference, optimizing link resource utilization, and improving communication stability, ensuring that the satellite backhaul service can be carried out stably and reliably, and ultimately effectively solving the problem of low transmission efficiency of the satellite link.

[0079] In some embodiments, obtaining the first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay may further include the following steps:

[0080] Obtain the link establishment time period of the satellite relay, and calculate the predicted satellite elevation angle based on the first satellite elevation angle and the link establishment time period; calculate the first satellite transmission rate based on the predicted satellite elevation angle and the preset elevation rate mapping relationship; the elevation rate mapping relationship is used to indicate the correspondence between different satellite elevation angle data and transmission rate data.

[0081] The link establishment period, represented by time T, refers to the total time required for a satellite relay to initiate a link request, complete the communication protocol handshake, and establish a stable satellite link. Due to the high speed of satellites in orbit (e.g., low-orbit satellites travel at approximately 7.8 km / s), their spatial position continuously changes during the link establishment process. This results in significant differences in the satellite elevation angle between the initial link establishment (e.g., when a request is sent) and after the link is stabilized (e.g., when data transmission begins). For example, if link establishment takes two minutes and the initial elevation angle is 30°, the elevation angle may drop to 25° after link establishment is complete. Directly using the initial elevation angle to calculate the transmission rate will result in a deviation from the actual value. Therefore, to ensure the accuracy of the transmission rate calculated based on the satellite elevation angle, in this embodiment, the satellite elevation angle after the link establishment period is predicted based on the currently acquired first satellite elevation angle in real time to obtain a predicted satellite elevation angle. This prediction can be achieved by substituting the currently monitored first satellite elevation angle and the link establishment period into a known orbital dynamics model to calculate the predicted transmission rate after time T.

[0082] As for the mapping relationship between satellite elevation angle and transmission rate, different satellite altitudes, frequency bands, and antenna capabilities are all related. Even the same satellite may be interfered with and affected by climate change and weather conditions. Therefore, the mapping relationship should be a real-time update process. For example, the initial mapping table can be determined based on the basic experience values tested in advance, and by designing elevation gears, such as one gear every 5° (it can also be more precise), the test range is 0°~90°. The test method is to use the relay to perform short-term maximum rate transmission during the movement of the satellite to detect the maximum transmission rate that can be supported under each elevation angle state. In subsequent operations, the relay can be designed to perform periodic short-term detection in an idle state to correct the mapping table, and randomly replace the tested real-time elevation angle and rate mapping with new values. Table 1 shows one of the elevation rate mapping tables, as shown below:

[0083] Table 1 Elevation rate mapping table

[0084]

[0085] Alternatively, the statistical elevation angle-transmission rate data group may be summarized and fitted with a formula based on test or historical data, and finally an expression for characterizing the mapping relationship between the satellite elevation angle and the transmission rate may be generated by fitting.

[0086] The terminal device uses the above-mentioned elevation angle rate mapping table to perform a lookup process based on the above-mentioned predicted satellite elevation angle, or substitutes the fitted expression into the calculation, and finally calculates the corresponding first satellite transmission rate. It should be noted that the first satellite transmission rate calculated at this time is the expected satellite transmission rate after time T, that is, the transmission rate after time T evaluated based on the real-time change in the satellite elevation angle. Because the satellite moves in real time, as the satellite elevation angle changes, its satellite channel transmission rate will also change. The higher the elevation angle, the higher the rate, and the smaller the elevation angle, the lower the rate. By monitoring the elevation angle change of its optimal access satellite in real time and estimating its change rate (because the satellite movement speed is fixed), its transmission rate can be finally evaluated and mapped.

[0087] In another embodiment, a first satellite transmission rate transmitted by a satellite relay is obtained; the first satellite transmission rate is calculated by the satellite relay based on the first satellite elevation angle and a link establishment time period, and then calculated based on a mapping relationship between the predicted satellite elevation angle and a stored elevation angle-rate relationship. The predicted satellite elevation angle and the first satellite transmission rate may also be directly calculated by the satellite relay itself, and the satellite relay transmits the calculated satellite elevation angle and satellite transmission rate together to a terminal device for subsequent analysis.

[0088] Through the above embodiments, dynamic elevation angle prediction and rate calibration are achieved, which can effectively solve the rate budget deviation caused by satellite movement and is conducive to improving the accuracy of satellite link switching; at the same time, it also provides multiple ways for terminal devices to participate in transmission rate calculation and for satellite relays to directly perform transmission rate calculation, thereby improving the flexibility of system application.

[0089] In some embodiments, the step of determining whether to switch the initial access relay according to the first satellite transmission rate may further include the following steps:

[0090] Based on the device information of the terminal device, the backhaul rate requirement of the satellite service data is determined; when it is detected that the first satellite transmission rate does not meet the backhaul rate requirement, it is determined that the initial access relay needs to be switched; when it is detected that the first satellite transmission rate meets the backhaul rate requirement, it is determined that the initial access relay does not need to be switched.

[0091] Specifically, the terminal device first obtains device information, including device type, processing capabilities, required data volume, and data real-time requirements. Based on this device information, the required return rate for satellite service data is calculated or estimated. This requirement is essential to ensure efficient and stable data transmission for the terminal device. The terminal device then monitors or obtains, in real time, the first satellite transmission rate currently being used to transmit satellite service data via the initial access relay. This first satellite transmission rate is then compared with the previously determined return rate requirement, and based on the comparison result, a relay switch is determined. If the first satellite transmission rate does not meet the return rate requirement, meaning the transmission rate is lower than the requirement, this indicates that the current link may not provide sufficient data transmission capacity. Therefore, a switch to the initial access relay is determined to locate a satellite relay that offers a higher transmission rate. Conversely, if the first satellite transmission rate meets or exceeds the return rate requirement, the system determines that the current link is valid and that a switch to the initial access relay is not necessary.

[0092] Through the above embodiments, dynamic monitoring and management of satellite communication link performance is achieved, ensuring that terminal devices can always transmit data under optimal link conditions. In this way, the system can automatically adapt to different communication environments and provide stable and efficient data transmission services.

[0093] In some embodiments, the step of determining the target access relay from among the satellite relays based on the first satellite transmission rate and the first satellite elevation angle may further include the following steps:

[0094] Detect for each satellite relay whether the first satellite transmission rate meets the preset return rate requirement to obtain a first detection result; calculate the elevation angle change trend of the satellite relay based on the first satellite elevation angle, and detect whether the elevation angle change trend of each satellite relay shows an increasing trend to obtain a second detection result; based on the first detection result and the second detection result, determine the target access relay from each satellite relay.

[0095] After detecting and determining the need to switch access relays through the above steps, the terminal device detects the current first satellite transmission rate for each satellite relay. This transmission rate is then compared with the preset return rate requirement, and whether the transmission rate of each satellite relay meets the requirement is recorded, forming a first detection result. Furthermore, the terminal device calculates the elevation angle change trend of each satellite relay based on the first satellite elevation angle of each satellite relay. This elevation angle change trend is typically obtained by observing elevation angle changes over a period of time. The terminal device then detects whether the current elevation angle change trend of each satellite relay is increasing, to ensure that the satellite relay can maintain good communication conditions for a period of time. Whether the elevation angle change trend of each satellite relay meets the growth requirement is also recorded, forming a second detection result.

[0096] The terminal device then comprehensively considers the first and second detection results and selects a satellite relay that meets the required transmission rate and exhibits a favorable elevation angle variation trend as the target access relay. This selection process can also involve weighting the two detection results to balance the importance of transmission rate and elevation angle variation trend. Ultimately, the system determines a target access relay for subsequent data transmission tasks.

[0097] Through the above-described embodiments, a terminal device can comprehensively evaluate satellite relay performance, taking into account not only the current transmission rate but also future trends in communication conditions. This allows for more accurate selection of an optimal satellite relay for access. This ensures the stability and reliability of data transmission and improves the overall performance of the satellite communication system.

[0098] In some embodiments, the step of determining the target access relay from among the satellite relays based on the first satellite transmission rate and the first satellite elevation angle may further include the following steps:

[0099] Based on the first detection result, determine whether there is a first satellite relay among each satellite relay whose first satellite transmission rate meets the return rate requirement; when the first satellite relay is detected, based on the second detection result, detect the second satellite relay among the first satellite relays whose elevation angle change trend shows an increasing trend; when multiple second satellite relays are detected, determine the satellite relay with the smallest first satellite elevation angle among each second satellite relay as the target access relay; when no second satellite relay is detected, determine the satellite relay with the largest first satellite elevation angle among each first satellite relay as the target access relay.

[0100] The following describes the decision-making process for determining the target access relay based on the transmission rate and elevation angle change trend of the satellite relay.

[0101] First, the terminal device determines whether there is at least one satellite relay whose transmission rate meets the required rate based on the first detection result (i.e., the comparison between the first satellite transmission rate of each satellite relay and the preset return rate requirement). If such a satellite relay exists, it is referred to as the first satellite relay. If the first satellite relay is detected, the terminal device further selects a second satellite relay based on the second detection result:

[0102] For all satellites identified as primary relay satellites, the terminal device further screens them based on the second detection result (i.e., the comparison of each relay's elevation angle change trend with a preset increasing trend). In this step, the terminal searches for relay satellites with increasing elevation angle trends, which are referred to as secondary relay satellites.

[0103] If the terminal device detects multiple secondary satellite relays—that is, multiple satellite relays that meet the transmission rate requirements and exhibit an increasing elevation angle trend—it will further select these satellite relays based on their primary satellite elevation angles. In this case, the terminal device prioritizes the satellite relay with the smallest primary satellite elevation angle as the target access relay. This is because a smaller elevation angle generally means better communication conditions, such as a shorter transmission path and less signal attenuation.

[0104] If the terminal device detects only one second satellite relay, the second satellite relay can be directly used as the target access relay.

[0105] If the terminal device fails to detect any secondary satellite relays—that is, if no satellite relays meet both the transmission rate requirements and exhibit an increasing elevation angle—the terminal device will fall back on all primary satellite relays that meet the transmission rate requirements. In this case, the satellite relay with the highest primary satellite elevation angle is prioritized as the initial access relay. While this isn't the optimal choice (because the increasing elevation angle trend isn't met), the higher elevation angle likely means that the satellite relay will maintain good communication conditions for a period of time.

[0106] More specifically, the relay reselection decision method of the above terminal device is as follows:

[0107] ①. First, select relay satellite links whose expected rate after time T exceeds the minimum required rate for the terminal's backhaul. ②. Among the relay links that meet condition ①, select those with increasing rate trends (effectively, select those whose satellites have not yet moved past the highest elevation angle). ③. Among the relay links that meet conditions ① and ②, select the relay link with the smallest elevation angle. ④. If only a relay link meets condition ① but not condition ②, select the relay link with the largest elevation angle. ⑤. If there are multiple relay links that meet conditions ①, ②, and ③ (or ①, ②, and ④), that is, if there are two or more satellite links with the same elevation angle and the same movement trend (since the definition of elevation angle is a gear and may not be strictly precise, this may occur), select the one with the best relay D2D link signal. ⑥. If no relay link meets condition ①, stop relay reselection and continue listening for opportunities. ⑦. After selecting the relay to switch to, the terminal switches to the target relay, completing the link transition. During the switching process, a satellite backhaul link with the target relay must be established first. After completion, the original link must be cut off to reduce the impact of link switching on the backhaul service.

[0108] Through the above embodiments, the transmission rate and elevation angle variation trend of the satellite relay, as well as the elevation angle size, are comprehensively considered to ensure that the selected target access relay can provide stable and efficient communication services in the current and future periods.

[0109] In some embodiments, before determining the initial access relay from each satellite relay, the satellite link determination method may further include the following steps:

[0110] Detect signal strength information corresponding to each adjacent relay node adjacent to the terminal device; and select multiple satellite relays from the adjacent relay nodes based on the signal strength information.

[0111] The aforementioned adjacent relay nodes refer to relay nodes located within the communicable range of the terminal device; the communicable range is the physical distance between the terminal device and the relay node at which a signal connection can be established, but may not meet the minimum transmission quality required by the business.

[0112] Specifically, neighboring relay nodes periodically transmit broadcast signals containing information such as their identity and channel parameters over a preset frequency band (such as the S / Ku band). This broadcast signal typically embeds a Channel Quality Index (CQI-RS) signal, allowing terminals to measure signal strength and channel quality. Terminal devices scan or monitor the broadcast signals of neighboring relay nodes using wireless signals (such as satellite communication bands). For each detected relay node, signal strength information is recorded, typically using at least one of the following metrics: Received Signal Strength Indicator (RSSI), Signal-to-Noise Ratio (SNR), and Bit Error Rate (BER). When the signal strength information is detected to be above a preset signal strength threshold, it is considered a candidate satellite relay for the terminal device; multiple candidate satellite relays can exist. The signal strength threshold can be a signal threshold selected by the relay node; the threshold setting should meet the minimum bandwidth requirements for satellite service data backhaul.

[0113] Alternatively, if permitted by the embodiment, the terminal device may also sort the adjacent relay nodes according to their respective signal strength information and select the top N adjacent relay nodes with the highest signal strength as candidate satellite relays. The value of N may be set according to the actual application.

[0114] It should also be understood that when no satellite service data is transmitted, that is, when a satellite link is not established, the terminal device continuously monitors the broadcast signals of each adjacent relay node in real time to detect the signal strength information of each node, so that the alternative satellite relays selected based on the signal strength information can change dynamically in real time.

[0115] For example, see Figure 2 For Terminal-1, there are four neighboring relay nodes located in different spatial locations within its communication range. In actual application, Terminal-1 receives signal strength information from each neighboring relay node and detects that the signal strength information of the rightmost relay node (filled and displayed in white) is lower than the preset signal strength threshold, while the signal strength information of the remaining three neighboring relay nodes is higher than the signal strength threshold, meeting basic communication requirements. Figure 2The three relay nodes whose signal strength information exceeds the signal strength threshold are displayed as solid fills to distinguish them from the adjacent relay node on the far right. Therefore, based on the above analysis, the adjacent relay node on the far right is automatically eliminated, and the other three adjacent relay nodes are selected as candidate relay satellites. During the subsequent satellite service data backhaul, Terminal-1 selects an appropriate access node from these three selected relay satellites for data backhaul, or implements adaptive access node switching.

[0116] Through the above embodiments, the terminal can efficiently screen out candidate satellite relays that meet the satellite service data transmission requirements in a complex communication environment, while effectively ensuring the reliability and scalability of the communication system.

[0117] In some embodiments, the selecting of the initial access relay from the satellite relays may further include the following steps:

[0118] Send a link establishment request to each satellite relay; receive the second satellite elevation angle sent by each satellite relay in response to the link establishment request, and obtain the second satellite transmission rate of the satellite relay calculated based on the second satellite elevation angle corresponding to the satellite relay; determine the initial access relay from the satellite relay based on the second satellite elevation angle and the second satellite transmission rate.

[0119] For ease of understanding, in this application, the satellite elevation angle of each satellite relay received by the terminal device after the initial access relay is selected is used as the first satellite elevation angle; the first satellite elevation angle is used to participate in the calculation of the first satellite transmission rate, and together with the first satellite transmission rate, it is used as the basis for selecting the target access relay. The satellite elevation angle of each satellite relay received by the terminal device before the initial access relay is selected is used as the second satellite elevation angle, and the second satellite elevation angle is used to participate in the calculation of the second satellite transmission rate, and together with the second satellite transmission rate, it is used as the basis for selecting the initial access relay. Therefore, in actual applications, the distinction between the first satellite elevation angle and the second satellite elevation angle is mainly to facilitate understanding and describing the process. Technically, both are satellite elevation angles, but they are received at different time points and used for different purposes.

[0120] The following describes the process of initially selecting a satellite relay for access. The terminal device sends a link establishment request to each satellite relay to establish a communication link. The satellite link established by each satellite relay is a keep-alive satellite link used to periodically transmit response data.

[0121] After sending a link establishment request, the terminal device receives the satellite elevation angles sent by each satellite relay in response to the link establishment request. Because these elevation angles are received before the initial access relay is selected, they are referred to as second satellite elevation angles in this application. The terminal device uses the received second satellite elevation angles, combined with the elevation-rate mapping algorithm described above, to calculate the second satellite transmission rate for each satellite relay.

[0122] The terminal device determines one or more initial access relays from all satellite relays based on the calculated second satellite elevation angle and the second satellite transmission rate. More specifically, the method for determining the initial access relay is as follows:

[0123] (a) If the rate of the candidate relay after time T meets the rate requirement for video image backhaul, it is the preferred relay. (b) If the satellite link transmission rate of the candidate relay after time T shows an increasing trend (i.e., the elevation angle trend changes from small to large), it is the preferred relay. (c) If no relay meets either of the above two points (a) or (b), the relay with the highest rate after time T is preferred. (d) If there are multiple relays that meet (b) but not (a), the relay with the highest rate after time T is preferred, i.e., transmission rate is prioritized. (e) If there are multiple relays that meet either of the above two points (a) or (b), for example, relay 1 meets (a) and relay 2 meets (b), the relay that meets (a) is preferred, i.e., transmission rate is prioritized. (f) Among the relays that meet both (a) and (b), the relay with the lowest current satellite elevation angle is selected. (g) If there are multiple relays that meet (a) but not (b), that is, if the satellite link transmission rates of all candidate relays tend to decrease, select the relay with the largest current satellite elevation angle.

[0124] It should also be noted that after selecting the initial access relay, the terminal device will continue to receive satellite elevation angles transmitted by various satellite relays (including the initial access relay and other unselected relays). Since these elevation angles are received after the initial access relay is selected, they are referred to as first satellite elevation angles in this application. Satellite service data is transmitted via the initial satellite link accessed by the initial access relay and used to transmit service data. During this process, the first satellite elevation angle data of each satellite relay is still discretely transmitted via the keep-alive satellite link established by each satellite relay, allowing for real-time updates and switching of access relays.

[0125] Through the above embodiment, by comprehensively considering the two factors of satellite elevation angle and transmission rate, the optimal satellite relay is selected as the initial access point, thereby improving the stability and reliability of data transmission, optimizing data transmission efficiency, and enhancing the flexibility and adaptability of the system.

[0126] In some embodiments, the sending of link establishment requests to each satellite relay may further include the following steps:

[0127] Detect the monitoring status information of the terminal device on the monitored satellite; when it is detected that the monitoring status information indicates a triggering abnormality, send a link establishment request to each satellite relay.

[0128] Among them, monitoring anomalies refer to the terminal device analyzing the detection data of ground cameras or other sensor devices to see whether there are sudden abnormal situations such as illegal intrusion or fire points within the monitoring range of the terminal device. When an abnormal situation is detected, monitoring situation information that triggers the abnormality is generated. At this time, it is necessary to link to the satellite relay for satellite service transmission. Therefore, based on the information that triggers the abnormality, the terminal device sends a link establishment request to each satellite relay, and then receives the response data such as satellite elevation angle returned by each satellite relay in response to the link establishment request, and begins to enter the preliminary selection of access relays and relay reselection decisions. For example, please refer to Figure 2 In the figure, an alarm or recognition anomaly trigger occurs in the monitoring area of the terminal device terminal-1. At this time, the terminal-1 enters the routing selection in the satellite image backhaul scenario.

[0129] Through the above embodiments, the terminal device can monitor anomalies in real time in complex environments, and efficiently connect to the satellite relay node when an anomaly trigger is identified, to achieve reliable return of key video data and meet emergency response and remote command needs.

[0130] The present application is described below with reference to specific embodiments. Figure 5 FIG. 1 is a flow chart of another satellite link determination method according to an embodiment of the present application. Figure 5 As shown, the process includes the following steps:

[0131] Step S501, start the process; receive broadcast signals from each adjacent relay node.

[0132] Step S502: Mapping transmission capabilities according to signal strengths sent by neighboring relay nodes D2D.

[0133] Step S503: Select a relay node whose transmission capacity is greater than the terminal video backhaul rate requirement as a candidate satellite relay.

[0134] Step S504: Determine whether the monitoring identifies an abnormality that triggers an alarm. If not, return to the above step S501 to continue receiving the broadcast signal of the neighboring relay node.

[0135] Step S505: If the judgment result of the above step S504 is yes, a link establishment request is initiated to all candidate satellite relays.

[0136] In step S506, each satellite relay establishes a keep-alive satellite link in response to the link establishment request.

[0137] In step S507, each satellite relay sends a link establishment response to the terminal device via the keep-alive satellite link, including the expected satellite transmission rate after T time, the rate change trend after T time, and the real-time satellite elevation angle.

[0138] Because each relay needs to maintain real-time keepalive detection with the satellite, it maintains the sampling and calculation of the above required information. The rate change trend, which determines whether the transmission bandwidth will increase or decrease after T time based on the satellite's elevation angle, is used by the relay to determine whether the transmission bandwidth will increase or decrease after T time. This rate change trend is a decision criterion for the terminal to select a relay.

[0139] Step S508 , determining whether there is a relay satellite whose expected satellite transmission rate after T time is greater than the required video image return rate.

[0140] Step S509: If the judgment result of the above step S508 is no, then select the relay with the highest expected satellite transmission rate after T time from each satellite relay as the initial access relay, and continue to execute step S512.

[0141] Step S510: If the determination result of the above step S508 is yes, it is determined whether there is a relay satellite whose speed trend is increasing (ie, the elevation angle trend is increasing).

[0142] Step S511: If the judgment result of the above step S510 is yes, then select the relay with the smallest current satellite elevation angle from each satellite relay as the initial access relay; if the judgment result of the above step S510 is no, then select the relay with the largest current satellite elevation angle from each satellite relay as the initial access relay.

[0143] Step S512: Access the relay satellite link to start video image backhaul.

[0144] In step S513, the terminal device receives the satellite elevation angle, the expected rate after T time, and the rate change trend reported by each satellite relay.

[0145] Step S514: determine whether the expected rate after the current access to the relay satellite link for T time is less than the required rate for video image return transmission. If not, return to the above step S512.

[0146] Step S515: If the determination result of step S514 is yes, relay reselection is started.

[0147] Step S516: determine whether there is a relay satellite whose expected rate after T time is greater than the required rate for video image return transmission. If not, return to the above step S512.

[0148] Step S517: If the determination result of the above step S516 is yes, it is determined whether there is a relay satellite whose speed trend is increasing (ie, the elevation angle trend is increasing).

[0149] Step S518: If the judgment result of the above step S517 is yes, then select the relay with the smallest current satellite elevation angle from each satellite relay as the switching target; if the judgment result of the above step S517 is no, then select the relay with the largest current satellite elevation angle from each satellite relay as the switching target.

[0150] Step S519: determine whether there are two or more satellite links with the same elevation angle and the same moving trend. If not, directly execute the subsequent step S521.

[0151] Step S520: If the judgment result of the above step S519 is yes, then select the relay with the best D2D direct link signal as the handover target.

[0152] In step S521, the terminal device switches to the target access relay to complete the link conversion; the process returns to step S512 and continues to execute until all video images are transmitted back, and the process ends.

[0153] Through the above steps, a relay + satellite networking and link switching method for security monitoring services is provided. Unlike traditional satellite communications, this embodiment comprehensively considers the required service rate of the terminal service. Instead of waiting for the satellite link to automatically switch, the terminal device actively selects the optimal relay based on its own rate requirements, ensuring a constant connection to the high-elevation satellite link, thereby guaranteeing the video image return rate.

[0154] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0155] This embodiment also provides a satellite link determination device, applicable to a terminal device connected to multiple satellite relays; this device is used to implement the above-mentioned embodiments and preferred implementations, and details already described are omitted. As used below, the terms "module," "unit," "subunit," etc. may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0156] Figure 6 is a structural block diagram of a satellite link determination device according to an embodiment of the present application, such as Figure 6 As shown, the device includes:

[0157] The initial selection module 61 is used to select an initial access relay from each satellite relay and establish an initial satellite link including a satellite, an initial access relay and a terminal device; the receiving module 62 is used to receive the first satellite elevation angle sent by each satellite relay in the process of receiving satellite service data transmitted back by the initial access relay via the initial satellite link, and obtain the first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay; the judgment module 63 is used to judge whether it is necessary to switch the initial access relay based on the first satellite transmission rate; the switching module 64 is used to determine the target access relay from each satellite relay based on the first satellite transmission rate and the first satellite elevation angle, if necessary, establish a target satellite link including a satellite, a target access relay and a terminal device, and switch the initial satellite link to the target satellite link; otherwise, continue to receive the satellite service data transmitted back by the initial access relay via the initial satellite link.

[0158] In some embodiments, the satellite link determination device further includes a selection module, which is configured to detect signal strength information corresponding to each adjacent relay node adjacent to the terminal device; and select multiple satellite relays from the adjacent relay nodes based on the signal strength information.

[0159] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination. For specific examples in this embodiment, reference can be made to the examples described in the above embodiment and optional implementations, and will not be repeated in this embodiment.

[0160] This embodiment further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0161] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0162] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0163] S1, select the initial access relay from various satellite relays and establish an initial satellite link including the satellite, the initial access relay and the terminal equipment.

[0164] S2, in the process of receiving satellite service data returned by the initial access relay via the initial satellite link, receives the first satellite elevation angle sent by each satellite relay, and obtains the first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay.

[0165] S3: Determine whether it is necessary to switch the initial access relay according to the first satellite transmission rate.

[0166] S4, if yes, then based on the first satellite transmission rate and the first satellite elevation angle, determine the target access relay from each satellite relay, establish a target satellite link including the satellite, the target access relay and the terminal device, and switch the initial satellite link to the target satellite link; otherwise, continue to receive the satellite service data transmitted back by the initial access relay via the initial satellite link.

[0167] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be repeated here.

[0168] In addition, in conjunction with a satellite link determination method in the above embodiment, an embodiment of the present application may provide a storage medium for implementation. The storage medium stores a computer program; when the computer program is executed by a processor, any of the satellite link determination methods in the above embodiment is implemented.

[0169] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0170] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0171] Those skilled in the art should understand that the various technical features of the above-described embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the various technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0172] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A satellite link determination method, characterized in that: A terminal device used for connecting multiple satellite relays; the method includes: Selecting an initial access relay from each of the satellite relays, and establishing an initial satellite link including a satellite, the initial access relay and the terminal device; In the process of receiving the satellite service data returned by the initial access relay via the initial satellite link, receiving a first satellite elevation angle sent by each of the satellite relays, and obtaining a first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay; determining, based on the first satellite transmission rate, whether it is necessary to switch the initial access relay; If so, based on the first satellite transmission rate and the first satellite elevation angle, the target access relay is determined from each of the satellite relays, a target satellite link including the satellite, the target access relay and the terminal device is established, and the initial satellite link is switched to the target satellite link; otherwise, the satellite service data returned by the initial access relay via the initial satellite link continues to be received.

2. The satellite link determination method according to claim 1, wherein: The obtaining, according to the first satellite elevation angle corresponding to the satellite relay, a first satellite transmission rate of the satellite relay calculated, includes: Obtaining a link establishment time period of the satellite relay, and calculating a predicted satellite elevation angle based on the first satellite elevation angle and the link establishment time period; Calculating the first satellite transmission rate according to the predicted satellite elevation angle and a preset elevation rate mapping relationship, wherein the elevation rate mapping relationship is used to indicate a correspondence between different satellite elevation angle data and transmission rate data; or; Obtain the first satellite transmission rate sent by the satellite relay; the first satellite transmission rate is calculated by the satellite relay based on the first satellite elevation angle and the link establishment time period, and is calculated based on the predicted satellite elevation angle and the stored elevation rate mapping relationship.

3. The satellite link determination method according to claim 1, wherein: The determining, based on the first satellite transmission rate, whether it is necessary to switch the initial access relay includes: Determining a return rate requirement for the satellite service data based on the device information of the terminal device; When it is detected that the first satellite transmission rate does not meet the backhaul rate requirement, it is determined that the initial access relay needs to be switched; when it is detected that the first satellite transmission rate meets the backhaul rate requirement, it is determined that the initial access relay does not need to be switched.

4. The satellite link determination method according to claim 1, wherein: The determining a target access relay from the satellite relays based on the first satellite transmission rate and the first satellite elevation angle includes: detecting, for each of the satellite relays, whether the first satellite transmission rate meets a preset return rate requirement, and obtaining a first detection result; Calculating, based on the first satellite elevation angle, an elevation angle variation trend of the satellite relay, and detecting whether the elevation angle variation trend of each satellite relay is an increasing variation trend, to obtain a second detection result; Based on the first detection result and the second detection result, the target access relay is determined from the satellite relays.

5. The satellite link determination method according to claim 4, wherein: The determining the target access relay from the satellite relays based on the first detection result and the second detection result includes: Based on the first detection result, determining whether there is a first satellite relay among the satellite relays whose first satellite transmission rate meets the return rate requirement; In the case where the first satellite relay is detected, based on the second detection result, detecting a second satellite relay in the first satellite relay whose elevation angle change trend shows an increasing change trend; When multiple second satellite relays are detected, the satellite relay with the smallest elevation angle of the first satellite among each of the second satellite relays is determined as the target access relay; when no second satellite relay is detected, the satellite relay with the largest elevation angle of the first satellite among each of the first satellite relays is determined as the target access relay.

6. The satellite link determination method according to claim 1, wherein: Before determining the initial access relay from each of the satellite relays, the method further includes: Detecting signal strength information corresponding to each adjacent relay node adjacent to the terminal device; Based on the signal strength information, a plurality of satellite relays are selected from the neighboring relay nodes.

7. The satellite link determination method according to any one of claims 1 to 6, characterized in that: The selecting an initial access relay from each of the satellite relays comprises: Sending a link establishment request to each of the satellite relays; receiving a second satellite elevation angle sent by each satellite relay in response to the link establishment request, and obtaining a second satellite transmission rate of the satellite relay calculated based on the second satellite elevation angle corresponding to the satellite relay; The initial access relay is determined from the satellite relays according to the second satellite elevation angle and the second satellite transmission rate.

8. The satellite link determination method according to claim 7, wherein: The sending of the link establishment request to each of the satellite relays includes: Detecting monitoring information of the terminal device on the monitored satellite; When it is detected that the monitoring situation information indicates that an abnormality has been triggered, the link establishment request is sent to each of the satellite relays.

9. A satellite link determination device, characterized in that: Terminal equipment used for connecting multiple satellite relays; the device includes: an initial selection module, configured to select an initial access relay from each of the satellite relays and establish an initial satellite link including a satellite, the initial access relay and the terminal device; a receiving module, configured to receive, during a process of receiving satellite service data returned by the initial access relay via the initial satellite link, a first satellite elevation angle sent by each of the satellite relays, and obtain a first satellite transmission rate of the satellite relay calculated based on the first satellite elevation angle corresponding to the satellite relay; a judgment module, configured to judge whether it is necessary to switch the initial access relay according to the first satellite transmission rate; A switching module is used to, if necessary, determine a target access relay from each of the satellite relays based on the first satellite transmission rate and the first satellite elevation angle, establish a target satellite link including the satellite, the target access relay and the terminal device, and switch the initial satellite link to the target satellite link; otherwise, continue to receive satellite service data transmitted back by the initial access relay via the initial satellite link.

10. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the satellite link determination method according to any one of claims 1 to 8 when running.

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