A multi-satellite-based complex terrain communication method and device and storage medium

Abstract

The application discloses a complex terrain communication method and device based on multiple satellites, and a storage medium. The method comprises the following steps: determining a navigation path and a moving speed of a terminal device, and determining trajectory information of the terminal device within a predetermined period of time relative to a current time; determining three-dimensional terrain information in a coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device; determining satellite docking information corresponding to each space-time trajectory point based on the trajectory information corresponding to the terminal device, ephemeris information of multiple satellites, and the three-dimensional terrain information; determining a docking switching point according to the satellite docking information corresponding to each space-time trajectory point, and determining a switching vector based on the docking switching point; and determining a target switching strategy by using a particle swarm optimization algorithm and according to a preset target function and the switching vector, and performing satellite switching according to the target switching strategy.

Description

Technical Field

[0001] This application relates to the field of satellite communication technology, and in particular to a multi-satellite communication method, apparatus and storage medium for complex terrain. Background Technology

[0002] In scenarios where low-Earth orbit (LEO) satellites are directly connected to terminal devices (e.g., LEO satellites and mobile phones), signal transmission between the terminal device and the LEO satellite will be affected if the terminal device is located in complex terrain. This is primarily because LEO satellites transmit mostly high-frequency signals. Therefore, when the terminal device happens to be in the shadow of the LEO satellite's coverage (e.g., when the terminal device is blocked by buildings or other obstacles), the signal transmitted by the LEO satellite will be reflected by the obstacles, thus interrupting communication between the terminal device and the LEO satellite.

[0003] The problems mentioned above can be solved in the following ways. Figure 1 This diagram illustrates how, when existing terminal equipment is unable to establish a communication connection with LEO satellite B1, it switches to LEO satellite B2 to establish a communication connection. (Reference) Figure 1 As shown, terminal device A can establish a communication connection with low-Earth orbit (LEO) satellite B1 and also with LEO satellite B2. Initially, terminal device A is directly connected to LEO satellite B1 and establishes a communication connection. However, due to obstacles between terminal device A and LEO satellite B1 and the signal transmitted by LEO satellite B1 being blocked during the movement of LEO satellite B1 (or during the movement of terminal device A), terminal device A needs to switch to LEO satellite B2 and establish a communication connection with LEO satellite B2.

[0004] However, the above scenario only occurs when the connection between terminal device A, directly connected to LEO satellite B1, is interrupted by obstacles, forcing it to passively switch to LEO satellite B2. When the connection between terminal device A and LEO satellite B2 is passively switched due to obstacles, the following problems inevitably arise: In reality, there may be more than two LEO satellites capable of simultaneously establishing communication connections with terminal device A. When the communication connection between terminal device A and LEO satellite B1 is interrupted, it needs to select one from LEO satellites B2 to B4 for connection. However, the usual strategy for selecting connection is based on communication quality parameters such as the elevation angle, signal-to-noise ratio, and latency of the LEO satellite's transmitted signal, ignoring the switching frequency caused by terrain. When terminal device A moves through complex terrain (e.g., mountain roads or densely built-up urban areas), it may have just switched to LEO satellite B2 based on communication quality parameters, only to have the connection interrupted again due to terrain, forcing it to continue the next switch.

[0005] There is currently no effective solution to the technical problem in the existing technology that selects satellite switching strategies based solely on communication quality parameters without considering the switching frequency caused by terrain. As a result, when the terminal device moves in complex terrain, it may have just switched to a low-Earth orbit satellite based on communication quality parameters, but then had to switch again due to terrain. Summary of the Invention

[0006] The embodiments of this disclosure provide a multi-satellite communication method, apparatus, and storage medium for complex terrain, to at least solve the technical problem in the prior art that the satellite switching strategy is selected only based on communication quality parameters without considering the switching frequency caused by terrain. As a result, when the terminal device moves in complex terrain, it may have just switched to a low-Earth orbit satellite based on communication quality parameters, but then the terminal device has to switch again due to terrain.

[0007] According to one aspect of the present disclosure, a method for complex terrain communication based on multiple satellites is provided, comprising: determining the navigation path and moving speed of a terminal device, and determining in real time the trajectory information of the terminal device within a predetermined time period relative to the current time, wherein the trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device and the time information corresponding to the trajectory points; determining three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device; and determining the relationship between the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites, and the three-dimensional terrain information and the various spatiotemporal trajectories. The system generates satellite docking information corresponding to each point, indicating which satellites can dock with the terminal device at each spatiotemporal trajectory point. Based on the satellite docking information corresponding to each spatiotemporal trajectory point, a docking switching point is determined, and a switching vector is determined based on the docking switching point. The docking switching point indicates that the satellite docking information of the current spatiotemporal trajectory point is different from that of the previous spatiotemporal trajectory point, and the switching vector represents the satellite selected by the terminal device to dock at each docking switching point. Finally, using a particle swarm optimization algorithm and based on a pre-set objective function and switching vector, a target switching strategy is determined, and satellite switching is performed according to the target switching strategy.

[0008] According to another aspect of the present disclosure, a storage medium is also provided, the storage medium including a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0009] According to another aspect of the present disclosure, a complex terrain communication device based on multiple satellites is also provided, comprising: a trajectory information determination module, configured to determine the navigation path and moving speed of a terminal device, and to determine in real time the trajectory information of the terminal device within a predetermined time period relative to the current time, wherein the trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device and the time information corresponding to the trajectory points; a three-dimensional terrain information determination module, configured to determine the three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device; and a satellite docking information determination module, configured to determine the satellite docking information based on the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites, and the three-dimensional terrain information. The system comprises: a satellite docking information module for each spatiotemporal trajectory point, wherein the satellite docking information indicates which satellites can dock with the terminal device at each spatiotemporal trajectory point; a switching vector determination module, which determines the docking switching point based on the satellite docking information corresponding to each spatiotemporal trajectory point, and determines the switching vector based on the docking switching point, wherein the docking switching point indicates that the satellite docking information of the current spatiotemporal trajectory point is different from the satellite docking information of the previous spatiotemporal trajectory point, and the switching vector represents the satellite selected by the terminal device to dock at each docking switching point; and a target switching strategy determination module, which uses a particle swarm optimization algorithm and a pre-set objective function and switching vector to determine the target switching strategy, and performs satellite switching according to the target switching strategy.

[0010] According to another aspect of the present disclosure, a complex terrain communication device based on multiple satellites is also provided, comprising: a processor; and a memory connected to the processor, configured to provide the processor with instructions for processing the following steps: determining the navigation path and moving speed of a terminal device, and determining in real time the trajectory information of the terminal device within a predetermined time period relative to the current time, wherein the trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device and the time information corresponding to the trajectory points; determining three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device; and determining the three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device and the ephemeris of multiple satellites. The system uses information and 3D terrain information to determine satellite docking information corresponding to each spatiotemporal trajectory point. This satellite docking information indicates which satellites can dock with the terminal device at each spatiotemporal trajectory point. Based on the satellite docking information corresponding to each spatiotemporal trajectory point, docking switching points are determined, and switching vectors are determined based on these switching points. The docking switching points indicate that the satellite docking information of the current spatiotemporal trajectory point differs from that of the previous spatiotemporal trajectory point, and the switching vectors represent the satellites selected by the terminal device to dock at each docking switching point. Finally, using a particle swarm optimization algorithm and based on a pre-set objective function and switching vectors, a target switching strategy is determined, and satellite switching is performed according to the target switching strategy.

[0011] This application provides a multi-satellite-based communication method for complex terrain. First, the terminal device determines the navigation path and movement speed, and determines the trajectory information relative to the current time within a predetermined future time period. Then, based on the trajectory information, the terminal device determines the three-dimensional terrain information within the coverage area corresponding to the trajectory information. Further, based on the corresponding trajectory information, ephemeris information of multiple satellites, and the three-dimensional terrain information, the terminal device determines the satellite docking information corresponding to the spatiotemporal trajectory points. Next, based on the satellite docking information corresponding to each spatiotemporal trajectory point, the terminal device determines the docking switching point, and based on the docking switching point, determines the switching vector. Finally, the terminal device uses a particle swarm optimization algorithm, and based on a pre-set objective function and the switching vector, determines a target switching strategy, and performs satellite switching according to the target switching strategy.

[0012] As described above, this application does not determine the handover strategy solely based on the communication quality parameters corresponding to the satellite. Instead, it further determines the target handover strategy by fully considering the frequency of satellite handovers caused by terrain, combined with the communication quality parameters corresponding to the satellite. In other words, because this application considers the influence of the frequency of satellite handovers caused by terrain, when performing satellite handover based on the target handover strategy determined in this application, there will be no situation where the terminal device, after switching satellites, has to switch to another satellite due to movement in complex terrain.

[0013] This achieves the technical effect of maximizing the communication quality of terminal devices, avoiding communication interruptions, and improving data transmission performance. Furthermore, it solves the technical problem in existing technologies where satellite switching strategies are selected solely based on communication quality parameters, without considering the switching frequency caused by terrain. Consequently, when a terminal device moves through complex terrain, it may have just switched to a low-Earth orbit satellite based on communication quality parameters, only to have to switch again due to terrain conditions. Attached Figure Description

[0014] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this application, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure. In the drawings:

[0015] Figure 1 This is a diagram illustrating how, when the existing terminal device A is unable to establish a communication connection with the low-Earth orbit satellite B1, it switches to low-Earth orbit B2 and establishes a communication connection.

[0016] Figure 2 This is a schematic diagram illustrating the acquisition of ephemeris information and communication performance parameters of various satellites by the terminal device described in Embodiment 1 of this application;

[0017] Figure 3 This is a schematic diagram illustrating the establishment of a communication connection between a terminal device and a satellite during movement, according to Embodiment 1 of this application.

[0018] Figure 4A This is a schematic diagram of the hardware architecture of multiple satellites according to Embodiment 1 of this application;

[0019] Figure 4B This is a schematic diagram of the hardware architecture of the terminal device according to Embodiment 1 of this application;

[0020] Figure 5 This is a flowchart of a multi-satellite-based complex terrain communication method according to Embodiment 1 of this application;

[0021] Figure 6 This is a modular schematic diagram of a multi-satellite-based complex terrain communication device according to Embodiment 2 of this application; and

[0022] Figure 7 This is a modular schematic diagram of a complex terrain communication device based on multiple satellites, according to Embodiment 3 of this application. Detailed Implementation

[0023] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this disclosure.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] Example 1

[0026] According to this embodiment, a method embodiment for communication in complex terrain based on multiple satellites is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0027] Figure 2 This is a schematic diagram illustrating how a terminal device, according to an embodiment of this application, acquires ephemeris information and communication performance parameters of various satellites. (Reference) Figure 2 As shown, terminal device 10 and satellites B1 to B n Any one of the satellites can establish a direct communication connection, thereby enabling data transmission, etc., through the corresponding satellite. Satellites B1 to B2 n It also establishes a communication connection with gateway station 30 and is used to downlink their respective ephemeris information to gateway station 30, so that gateway station 30 can communicate with each satellite B1 to B1. n The corresponding ephemeris information is summarized. In addition, gateway station 30 is also used to collect data with each satellite B1 to B2. n The corresponding communication performance parameters. These parameters include, but are not limited to, the elevation angle between the satellite and the terminal device 10, the satellite's signal-to-noise ratio, the satellite's latency, and the remaining bandwidth of the satellite's communication link.

[0028] Furthermore, terminal device 10 also establishes a communication connection with gateway station 30 to obtain information from gateway station 30 regarding each satellite B1 to B2. n The corresponding ephemeris information and communication performance parameters.

[0029] Figure 3 This is a schematic diagram illustrating the establishment of a communication connection between a terminal device and a satellite during movement, according to an embodiment of this application. (Reference) Figure 3 As shown, during the movement of terminal device 10 along navigation path R, it interacts with satellites B1 to B2 at various spatiotemporal trajectory points. n Establish a communication connection. The satellite establishing a communication connection at the current spatiotemporal trajectory point can be the same as or different from the satellite establishing a communication connection at the previous spatiotemporal trajectory point. If the satellite establishing a communication connection at the current spatiotemporal trajectory point is different from the satellite establishing a communication connection at the previous spatiotemporal trajectory point, then the current spatiotemporal trajectory point also serves as the docking switchover point.

[0030] Furthermore, it is worth noting that as the terminal device moves along navigation path R, there may be multiple obstacles around path R. And due to the obstruction caused by these obstacles, it is necessary to switch satellites for communication when passing through them.

[0031] Figure 4A Further shown Figure 1Multiple satellites B1 to B n A schematic diagram of the hardware architecture. (Reference) Figure 4A As shown, multiple satellites B1 to B n The system includes an integrated electronic system, comprising a processor, memory, a bus management module, and a communication interface. The memory is connected to the processor, allowing the processor to access the memory, read program instructions stored in the memory, and read or write data to the memory. The bus management module is connected to the processor and also to a bus such as a CAN bus. Thus, the processor can communicate with onboard peripherals connected to the bus through the bus managed by the bus management module. Furthermore, the processor also communicates with devices such as cameras, star sensors, telemetry and control transponders, and data transmission equipment via the communication interface. Those skilled in the art will understand that… Figure 4A The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, a satellite system may also include... Figure 4A The more or fewer components shown, or having the same Figure 4A The different configurations shown.

[0032] Figure 4B Further shown Figure 1 A schematic diagram of the hardware architecture of the middle terminal device 10. (Reference) Figure 4B As shown, the terminal device 10 may include one or more processors (processors may include, but are not limited to, microprocessors such as MCUs or programmable logic devices such as FPGAs), a memory for storing data, a transmission device for communication functions, and an input / output interface. The memory, transmission device, and input / output interface are connected to the processor via a bus. In addition, it may also include a display, keyboard, and cursor control device connected to the input / output interface. Those skilled in the art will understand that... Figure 4B The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, the ground system may also include... Figure 4B The more or fewer components shown, or having the same Figure 4B The different configurations shown.

[0033] It should be noted that, Figure 4A and Figure 4BOne or more processors and / or other data processing circuits shown herein may generally be referred to as "data processing circuitry". This data processing circuitry may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be integrated, in whole or in part, into any other element in a computing device. As involved in embodiments of this disclosure, the data processing circuitry serves as processor control (e.g., selection of a variable resistor termination path connected to an interface).

[0034] Figure 4A and Figure 4B The memory shown can be used to store software programs and modules for application software, such as the program instruction / data storage device corresponding to the multi-satellite complex terrain communication method in this embodiment of the present disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby realizing the multi-satellite complex terrain communication method of the aforementioned application. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.

[0035] It should be noted here that, in some optional embodiments, the above... Figure 4A and Figure 4B The device shown may include hardware elements (including circuitry), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. It should be noted that... Figure 4A and Figure 4B This is only one instance of a specific particular instance, and is intended to illustrate the types of components that may exist in the aforementioned devices.

[0036] Under the aforementioned operating environment, according to the first aspect of this embodiment, a multi-satellite-based complex terrain communication method is provided, which consists of... Figure 4A Or it can be implemented as shown in terminal device 10 in 4B. Figure 5 A flowchart illustrating the method is shown below. (Refer to...) Figure 5 As shown, the method includes:

[0037] S502: Determine the navigation path and moving speed of the terminal device, and determine the trajectory information of the terminal device in a predetermined time period relative to the current time. The trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device and the time information corresponding to the trajectory points.

[0038] S504: Based on the trajectory information corresponding to the terminal device, determine the three-dimensional terrain information within the coverage area corresponding to the trajectory information;

[0039] S506: Based on the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites, and the three-dimensional terrain information, determine the satellite docking information corresponding to each spatiotemporal trajectory point, wherein the satellite docking information is used to indicate the satellites that can dock with the terminal device at each spatiotemporal trajectory point.

[0040] S508: Based on the satellite docking information corresponding to each spatiotemporal trajectory point, determine the docking switch point, and based on the docking switch point, determine the switch vector. The docking switch point indicates that the satellite docking information of the current spatiotemporal trajectory point is different from the satellite docking information of the previous spatiotemporal trajectory point, and the switch vector represents the satellite selected by the terminal device to dock at each docking switch point; and

[0041] S510: Utilizes the particle swarm optimization algorithm and determines the target switching strategy based on the pre-set objective function and switching vector, and performs satellite switching according to the target switching strategy.

[0042] Specifically, firstly, during movement across complex terrain, the terminal device 10 pre-determines the navigation path R and the movement speed v. The navigation path R of the terminal device 10 can be, for example, pre-determined by the terminal device 10 using a navigation app and via navigation satellites. In other words, the user can determine the navigation path R by inputting the starting and destination locations into the navigation app on the terminal device 10.

[0043] Then, based on the predetermined navigation path R and the moving speed v, the terminal device 10 determines in real time the trajectory information within a predetermined future time period relative to the current time (S402). Specifically, once the terminal device 10 has determined the navigation path R and the moving speed v, it can determine the time and corresponding location information of the terminal device 10 reaching a certain trajectory point. For example, if the terminal device 10 moves to trajectory point L1 at time t1, the corresponding spatiotemporal trajectory point is (L1, t1); if the terminal device 10 moves to trajectory point L2 at time t2, the corresponding spatiotemporal trajectory point is (L2, t2); ...; if the terminal device 10 moves to trajectory point L... n And the corresponding time is t n The corresponding spatiotemporal trajectory point is (L) n ,t n In the embodiments of this application, the number of spatiotemporal trajectory points is exactly the same as the number of satellites. However, those skilled in the art should understand that the number of spatiotemporal trajectory points and the number of satellites may not be the same, which will not be elaborated here.

[0044] Therefore, as can be seen from the above, the trajectory information includes multiple spatiotemporal trajectory points (L). i ,t i ), i = 1 to n. And among them, L it represents the position information (e.g., three-dimensional spatial coordinates) of the i-th trajectory point. i This represents the time when terminal device 10 arrives at the i-th trajectory point.

[0045] Then, based on the corresponding trajectory information, the terminal device 10 determines the three-dimensional terrain information within the coverage area corresponding to the trajectory information (S404). Specifically, the terminal device 10 can obtain the three-dimensional terrain information within the coverage area corresponding to the trajectory information from the geographic platform APP. For example, the terminal device 10 obtains the three-dimensional terrain information P1 corresponding to the spatiotemporal trajectory point (L1, t1), the three-dimensional terrain information P2 corresponding to the spatiotemporal trajectory point (L2, t2), ..., the three-dimensional terrain information P1 corresponding to the spatiotemporal trajectory point (L1, t1), ..., the three-dimensional terrain information P2 corresponding to the spatiotemporal trajectory point (L2, t2), ..., the three-dimensional terrain information P2 corresponding to the spatiotemporal trajectory point (L1, t1). n ,t n The corresponding three-dimensional terrain information P n .

[0046] Furthermore, based on the corresponding trajectory information, ephemeris information of multiple satellites, and three-dimensional terrain information, the terminal device 10 determines the satellite docking information corresponding to each spatiotemporal trajectory point (S406). The satellite docking information indicates which satellites can dock with the terminal device at each spatiotemporal trajectory point. Specifically, referring to the above description, the terminal device 10 can establish a communication connection with the gateway station 30 and pre-acquire information about the satellites B1 to B2. n The corresponding ephemeris information.

[0047] Thus, the trajectory information and multiple satellites B1 to B1 were determined on the terminal device 10. n With ephemeris information, it is possible to determine which satellites the terminal device 10 is within the communication coverage range of at each spatiotemporal trajectory point. For example, when the terminal device 10 moves to the spatiotemporal trajectory point (L1,t1), and the mobile terminal 10 is within the communication coverage range of multiple satellites B1 to B2, it can determine which satellites the terminal device 10 is within. n Based on the ephemeris information, it is determined that at the spatiotemporal trajectory point (L1,t1), the terminal device 10 is within the communication coverage range of satellites B1 and B2.

[0048] For example, terminal device 10 moves to a spatiotemporal trajectory point (L2, t2), and mobile terminal 10 uses multiple satellites B1 to B2 to determine the location of the target. n Based on the ephemeris information, it is determined that at the spatiotemporal trajectory point (L2,t2), the terminal device 10 is within the communication coverage range of satellites B2 and B3.

[0049] For example, terminal device 10 moves to the spatiotemporal trajectory point (L3, t3), and mobile terminal 10 uses multiple satellites B1 to B2 to determine the location of the target. n Based on the ephemeris information, it is determined that at the spatiotemporal trajectory point (L3,t3), terminal device 10 is within the communication coverage range of satellite B4.

[0050] Furthermore, since the area surrounding the navigation path R is a complex terrain region, the terminal device 10 may be interfered with by obstructions in the complex terrain when moving along the navigation path R. This could prevent the terminal device 10 from establishing a communication connection with the satellite even if it is within the satellite's communication coverage area. For example, the terminal device 10 may be located at the spatiotemporal trajectory point (L1, t1), within the communication coverage area of ​​satellites B1 and B2. However, due to obstructions, the terminal device 10 cannot establish a communication connection with satellite B1, and therefore can only establish a communication connection with satellite B2. Thus, the satellite docking information of the terminal device 10 at the spatiotemporal trajectory point (L1, t1) indicates a communication connection with satellite B2.

[0051] For example, terminal device 10 is located at the spatiotemporal trajectory point (L2, t2), within the communication coverage area of ​​satellites B2 and B3. However, due to interference from obstructions, terminal device 10 cannot establish a communication connection with satellite B3. Therefore, terminal device 10 can only establish a communication connection with satellite B2. Thus, the satellite docking information of terminal device 10 at the spatiotemporal trajectory point (L2, t2) indicates a communication connection with satellite B2.

[0052] For example, terminal device 10 is located at the spatiotemporal trajectory point (L3, t3), within the communication coverage area of ​​satellite B4. Furthermore, there are no obstructions interfering at the spatiotemporal trajectory point (L3, t3) corresponding to satellite B4. Therefore, the satellite docking information of terminal device 10 at the spatiotemporal trajectory point (L3, t3) is the establishment of a communication connection with satellite B4.

[0053] Furthermore, the terminal device 10 determines the docking switch point based on the satellite docking information corresponding to each spatiotemporal trajectory point. The docking switch point indicates that the satellite docking information at the current spatiotemporal trajectory point differs from the satellite docking information at the previous spatiotemporal trajectory point. For example, the satellite docking information at the spatiotemporal trajectory point (L1,t1) indicates that a communication connection has been established with satellite B2. The satellite docking information at the spatiotemporal trajectory point (L2,t2) also indicates that a communication connection has been established with satellite B2. As can be seen from the above, when the terminal device 10 moves from the spatiotemporal trajectory point (L1,t1) to the spatiotemporal trajectory point (L2,t2), the docked satellite remains unchanged; therefore, the spatiotemporal trajectory point (L2,t2) is not a docking switch point.

[0054] For example, the satellite docking information of terminal device 10 at the spatiotemporal trajectory point (L2,t2) indicates the establishment of a communication connection with satellite B2. The satellite docking information of terminal device 10 at the spatiotemporal trajectory point (L3,t3) indicates the establishment of a communication connection with satellite B4. As can be seen from the above, when terminal device 10 moves from the spatiotemporal trajectory point (L2,t2) to the spatiotemporal trajectory point (L3,t3), the docking satellite changes; therefore, the spatiotemporal trajectory point (L3,t3) is the docking switch point.

[0055] Then, on terminal device 10, the docking switching points D1 to D2 are determined. M In this case, based on each docking switching point D1 to D M The handover vector is determined (S408). The handover vector represents the satellite selected by the terminal device 10 for docking at each docking handover point. The handover vector is X = [x1, x2, x3, ..., x...]. M ] T And among them, x1~x M Corresponding to each docking switching point D1 to D2 respectively M And x1~x M The value of x ranges from 1 to N, corresponding to satellites 201 to 20n respectively. For example, x M =N, which means that at docking switching point D M At point D1, it docks with the Nth satellite 20n. For example, if x1 = 2, it means that at docking switching point D1, it docks with the second satellite 202.

[0056] In other words, the switching vector X = [x1, x2, x3, ..., x M ] T It can be used to indicate the satellite selected for docking at each docking switching point.

[0057] Finally, the terminal device 10 utilizes the particle swarm optimization algorithm and, based on a pre-set objective function and switching vector, determines a target switching strategy and performs satellite switching according to the objective switching strategy (S410). Specifically, first, the terminal device 10 performs random initialization based on the switching vector, generates a particle swarm containing multiple particles, and determines the particle swarm parameters corresponding to the particle swarm. Then, the terminal device 10 defines the objective function. Further, the terminal device 10 uses the particle swarm algorithm to update the velocity and position information of each particle and calculates the fitness value corresponding to the updated position information. Then, the terminal device 10 compares the fitness value of the updated position information of the particles with the fitness value of the initial individual's optimal position. If the fitness value of the updated position information of the particles is less than the initial individual's optimal fitness value, the fitness value of the initial individual's optimal position is updated to the fitness value of the updated position information. Simultaneously, the terminal device 10 compares the fitness values ​​of each particle's updated position information with the fitness value of the initial global best position. If the fitness value of a particle's updated position information is less than the fitness value of the initial global best position, the terminal device 10 updates the fitness value of the corresponding particle's updated position information. Finally, the terminal device 10 iterates repeatedly until a termination condition is met, determines the target switching vector, and determines the target switching strategy based on the target switching vector. The above will be described in detail later, and therefore will not be repeated here.

[0058] The target handover strategy, for example, is used to indicate which satellite the terminal device 10 will dock with at the docking handover point. Thus, once the terminal device 10 determines the target handover strategy, it can perform satellite handover according to the target handover strategy.

[0059] As described in the background section, currently, terminal device A, directly connected to low-Earth orbit (LEO) satellite B1, only passively switches to LEO satellite B2 when the connection is interrupted by obstacles. However, when passively switching communication with LEO satellite B2 due to obstacle interruption, the following problems inevitably arise: In reality, there may be more than two LEO satellites capable of simultaneously establishing communication connections with terminal device A. When the communication connection between terminal device A and LEO satellite B1 is interrupted, it needs to select one from LEO satellites B2 to B4 for connection. However, the usual strategy for selecting connection is based on communication quality parameters such as the elevation angle, signal-to-noise ratio, and latency of the LEO satellite's transmitted signal, ignoring the switching frequency caused by terrain. When terminal device A moves through complex terrain (e.g., mountain roads or densely built-up urban areas), it may have just switched to LEO satellite B2 based on communication quality parameters, only to have the connection interrupted again due to terrain, forcing it to perform another switch.

[0060] In view of this, this application provides a multi-satellite communication method for complex terrain. Furthermore, as described above, this application does not determine the handover strategy solely based on the communication quality parameters corresponding to the satellites. Instead, it fully considers the frequency of satellite handovers caused by terrain factors and combines this with the communication quality parameters corresponding to the satellites to further determine the target handover strategy. In other words, because this application considers the influencing factor of the frequency of satellite handovers caused by terrain factors, when performing satellite handover based on the target handover strategy determined by this application, the terminal device will not have to switch to another satellite after switching satellites due to movement in complex terrain.

[0061] This achieves the technical effect of maximizing the communication quality of terminal devices, avoiding communication interruptions, and improving data transmission performance. Furthermore, it solves the technical problem in existing technologies where satellite switching strategies are selected solely based on communication quality parameters, without considering the switching frequency caused by terrain. Consequently, when a terminal device moves through complex terrain, it may have just switched to a low-Earth orbit satellite based on communication quality parameters, only to have to switch again due to terrain conditions.

[0062] Optionally, the operation of determining the three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device includes: using the terminal device and according to the corresponding trajectory information to obtain the three-dimensional terrain information corresponding to the coverage area from the geographic information platform, wherein the geographic information platform includes three-dimensional terrain information corresponding to multiple different regions.

[0063] Specifically, when the terminal device 10 determines the trajectory information within a predetermined future time period, it can obtain three-dimensional terrain information corresponding to the coverage area of ​​the trajectory information from a geographic information platform (e.g., an application that includes three-dimensional terrain information corresponding to multiple different regions). For example, the terminal device 10 can obtain three-dimensional terrain information corresponding to the coverage area of ​​the spatiotemporal trajectory point (L1,t1) from the geographic information platform.

[0064] Thus, through the above operations, the necessary technical foundation for determining the docking and switching point of the subsequent terminal equipment 10 was achieved.

[0065] Optionally, the operation of determining the target switching strategy using the particle swarm optimization algorithm and based on a pre-set objective function and switching vector includes: random initialization based on the switching vector to generate a particle swarm containing multiple particles and determining the particle swarm parameters, wherein the particle swarm parameters include the initial individual optimal position, the initial global optimal position, the initial position, the initial velocity, the initial inertia weight, a random number, and the number of iterations; defining the objective function, wherein the objective function indicates the sum of the product of the number of switching steps corresponding to the particle swarm and the corresponding first weight, and the product of the mass evaluation value corresponding to the particle swarm and the corresponding second weight; updating the velocity and position information of each particle using the particle swarm algorithm, and calculating the fitness corresponding to the updated position information. The process iterates through the following steps: First, the fitness value of the updated position information of each particle is compared with the fitness value of the initial individual's best position. If the fitness value of the updated position information of the particle is less than the fitness value of the initial individual's best position, the fitness value of the initial individual's best position is updated to the fitness value of the updated position information of the particle. Then, the fitness value of the updated position information of each particle is compared with the fitness value of the initial global best position. If the fitness value of the updated position information of any particle is less than the fitness value of the initial global best position, the fitness value of the initial global best position is updated to the fitness value of the corresponding updated position information of the particle. This process is repeated until the termination condition is met. Finally, the target switching vector is determined, and the target switching strategy is determined based on the target switching vector.

[0066] Specifically, firstly, the terminal device 10 pairs of switching vectors X = [x1, x2, x3, ..., x M ] T Perform random initialization to generate multiple particles X1 to X2. I The particle swarm is generated and its parameters are determined. These parameters include the initial optimal positions of individual particles. Initial global optimal position Initial position of the particle initial velocity Initial inertia weight ω0, random numbers r1, r2, number of iterations Y, learning factors c1, c2.

[0067] Then, terminal device 10 defines the objective function. The objective function is the sum of the product of the number of switches corresponding to the particle swarm and the corresponding first weight, and the product of the mass evaluation value of the particle swarm and the corresponding second weight. The initial position of the particles... It meets the constraints of the objective function.

[0068] Then, terminal device 10 updates the individual optimal position of particle h (where h = 1 ~ 1) and the global optimal position of the particle swarm according to the iterative formula of the particle swarm algorithm, where the iterative formula of the particle swarm algorithm is:

[0069]

[0070]

[0071] Where k represents the number of iterations, h represents the particle number, and h = 1 to 1. These represent the velocity and position of particle h before the update, respectively. This represents the updated velocity and position of particle h. Let represent the individual optimal position of particle h and the global optimal position of the particle swarm, respectively. Let ω0 represent the initial inertia weight, c1 and c2 represent the learning factors, and r1 and r2 represent random numbers between 0 and 1.

[0072] Furthermore, after determining the updated position and velocity, the terminal device 10 uses an objective function to calculate the fitness values ​​G1 to G2 corresponding to the updated position information of each particle. I .

[0073] The terminal device 10 then compares the fitness value of the updated particle position information with the fitness value of the initial individual's optimal position. If the fitness value of the updated particle position is less than the initial individual's optimal fitness value, the fitness value of the initial individual's optimal position is updated to the fitness value of the updated particle position. For example, the fitness value of the updated particle position information is G1, and the initial individual's optimal fitness value is G0. Therefore, since the fitness value of the updated particle position is less than the initial individual's optimal fitness value (i.e., G1 < G0), the fitness value of the initial individual's optimal position is updated to the fitness value of the updated particle position (i.e., let G0 = G1).

[0074] Similarly, the terminal device 10 compares the fitness value of each particle's updated position information with the fitness value of the initial global best position, and updates the fitness value of the initial global best position to the fitness value of the corresponding particle's updated position information if the fitness value of the updated position information of a particle is less than the fitness value of the initial global best position.

[0075] Finally, the terminal device 10 iterates repeatedly until a preset number of iterations is reached, and determines the target switching vector corresponding to the global optimal position. The target handover vector indicates that the terminal device 10 achieves the highest quality assessment value when moving from the starting position to the ending position. The quality assessment value includes the number of handovers during the movement of the terminal device 10 from the starting position to the ending position, as well as the communication quality assessment value. A smaller number of handovers results in a higher quality assessment value; conversely, a higher communication quality assessment value also results in a higher overall quality assessment value.

[0076] Thus, the target handover vector was determined at terminal device 1. In this case, it can be based on Determine which satellite to dock with at the docking switch point, based on Determine which satellite to dock with at the docking switch point, ..., based on Determine which satellite to dock with at the docking switch point.

[0077] This enables the determination of the target switching strategy and ensures that the satellites selected by the terminal device 10 at each docking switching point based on the target switching strategy can achieve the highest communication quality and the fewest number of satellite switchings required when the terminal device 10 moves along the navigation path R.

[0078] Optionally, it further includes: pre-determining a quality assessment value corresponding to the particle swarm, wherein the operation of pre-determining the quality assessment value corresponding to the particle swarm includes: determining the path length corresponding to each docking switch point, wherein the path length corresponding to the docking switch point is used to indicate the path length between the current docking switch point and the next docking switch point; determining the communication quality assessment value corresponding to the satellite selected for switching at each docking switch point; calculating the quality assessment value corresponding to each docking switch point, wherein the quality assessment value is used to indicate the product between the communication quality assessment value and the path length; and, given the determined quality assessment values ​​corresponding to each docking switch point, determining the quality assessment value corresponding to the particle swarm.

[0079] Specifically, since the terminal device 10 needs to predetermine the objective function in the process of determining the target switching vector using the particle swarm algorithm, and the objective function is used to indicate the sum of the product of the number of switching corresponding to the particle swarm and the first weight, and the product of the quality evaluation value corresponding to the particle swarm and the second weight, the terminal device 10 needs to predetermine the quality evaluation value corresponding to the particle swarm.

[0080] Therefore, the terminal device 10 first determines the path length corresponding to each docking switching point. The path length corresponding to each docking switching point indicates the path length between the current docking switching point and the next docking switching point. For example, the path length corresponding to docking switching point D1 indicates the path length between docking switching point D1 and docking switching point D2. The path length corresponding to docking switching point D2 indicates the path length between docking switching point D2 and docking switching point D3, and so on.m-1 The corresponding path length is used to indicate the docking switch point D. m-1 docking switching point D m The path length between them. And for the docking switch point D... m In terms of docking switching point D m The corresponding path length is used to indicate the docking switch point D. m The length of the path to the destination.

[0081] Then, terminal device 10 determines the communication quality assessment value corresponding to the satellite selected for switching at each docking point. This communication quality assessment value is related to the satellite's signal-to-noise ratio, satellite latency, remaining bandwidth of the satellite's communication link, and the elevation angle between the satellite and the docking point. These details will be described in more detail later and will not be repeated here.

[0082] Furthermore, the terminal device 10 calculates the quality assessment value corresponding to each docking switching point. The quality assessment value indicates the product between the communication quality assessment value and the path length.

[0083] Finally, after determining the mass assessment value corresponding to each docking switching point, the terminal device 10 uses the sum of the mass assessment values ​​corresponding to each docking switching point as the mass assessment value corresponding to the particle. The specific formula is as follows:

[0084]

[0085] in, w represents the mass assessment value corresponding to the particle. m Indicates the docking switching point D m The corresponding path length, Q m Indicates the docking switching point D m The communication quality assessment value corresponding to the selected satellite.

[0086] Optionally, the operation of determining the communication quality assessment value corresponding to the satellite selected for switching at each docking switching point includes: determining the communication performance parameters corresponding to the selected satellite for switching, and determining the weights corresponding to each communication performance parameter; and calculating the product between each communication performance parameter and its corresponding weight, and determining the communication quality assessment value based on the sum of the products. Further optionally, the communication performance parameters include: the elevation angle between the selected satellite and the docking switching point, the signal-to-noise ratio of the selected satellite, the latency of the selected satellite, and the remaining bandwidth of the communication link of the selected satellite.

[0087] Specifically, firstly, the terminal device 10 determines the communication performance parameters corresponding to the selected satellite and the weights corresponding to each communication performance parameter. These communication performance parameters include, for example, the elevation angle y1 between the selected satellite and the docking point, the signal-to-noise ratio y2 of the selected satellite, the latency y3 of the selected satellite, and the remaining bandwidth y4 of the communication link of the selected satellite. Furthermore, the weights k1 to k4 corresponding to each communication performance parameter can be preset by the user based on actual conditions and through the terminal device 10, or they can be automatically set by the terminal device 10 based on historical data.

[0088] Then, terminal device 10 calculates the product of each communication performance parameter and its corresponding weight, and determines the communication quality assessment value based on the sum of the products. The specific calculation formula is as follows:

[0089]

[0090] Among them, Q m,n This indicates the docking switch point D. m The communication quality assessment value corresponding to the switched satellite, k m,n,l This indicates the docking switch point D. m At this point, the weight corresponding to the l-th communication performance parameter of the switched satellite, y m,n,l This indicates the docking switch point D. m The location is the l-th communication performance parameter of the satellite being switched.

[0091] Through the above operations, the technical effect of being able to determine the communication quality assessment value corresponding to each satellite at the docking and switching point is achieved, thereby further ensuring the communication quality of the switched satellite.

[0092] Thus, according to the first aspect of this embodiment, the technical effect of maximizing the communication quality of terminal devices, avoiding communication interruptions, and improving data transmission performance is achieved.

[0093] In addition, refer to Figure 1 As shown, according to a second aspect of this embodiment, a storage medium is provided. The storage medium includes a stored program, wherein, when the program is executed, a processor performs any of the methods described above.

[0094] Thus, according to this embodiment, the technical effect of maximizing the communication quality of terminal devices, avoiding communication interruptions, and improving data transmission performance is achieved.

[0095] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the present invention is not limited to the described order of actions, because according to the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to the present invention.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0097] Example 2

[0098] Figure 6 A multi-satellite-based complex terrain communication device 600 according to this embodiment is shown, which corresponds to the method described according to Embodiment 1. Reference Figure 6As shown, the device 600 includes: a trajectory information determination module 610, used to determine the navigation path and moving speed of the terminal device, and to determine the trajectory information of the terminal device within a predetermined time period relative to the current time, wherein the trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device, and the time information corresponding to the trajectory points; a three-dimensional terrain information determination module 620, used to determine the three-dimensional terrain information within the coverage area corresponding to the trajectory information corresponding to the terminal device; and a satellite docking information determination module 630, used to determine the corresponding satellite docking information based on the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites, and the three-dimensional terrain information. The system includes: satellite docking information, which indicates the satellites that can dock with the terminal device at each spatiotemporal trajectory point; a switching vector determination module 640, which determines docking switching points based on the satellite docking information corresponding to each spatiotemporal trajectory point, and determines switching vectors based on the docking switching points, wherein the docking switching points indicate that the satellite docking information of the current spatiotemporal trajectory point is different from the satellite docking information of the previous spatiotemporal trajectory point, and the switching vectors represent the satellites selected by the terminal device to dock at each docking switching point; and a target switching strategy determination module 650, which uses a particle swarm optimization algorithm and a pre-set objective function and switching vectors to determine a target switching strategy, and performs satellite switching according to the target switching strategy.

[0099] Optionally, the three-dimensional terrain information determination module 620 includes: a three-dimensional terrain information acquisition module, used to acquire three-dimensional terrain information corresponding to the coverage area from a geographic information platform using a terminal device and based on corresponding trajectory information, wherein the geographic information platform includes three-dimensional terrain information corresponding to multiple different regions.

[0100] Optionally, the target switching strategy determination module 650 includes: a random initialization module, used to perform random initialization based on the switching vector, generate a particle swarm containing multiple particles, and determine the particle swarm parameters corresponding to the particle swarm, wherein the particle swarm parameters include initial individual optimal position, initial global optimal position, initial position, initial velocity, initial inertia weight, random number, number of iterations, and learning factor; an objective function definition module, used to define an objective function, wherein the objective function indicates the sum of the product of the number of switching corresponding to the particle swarm and the corresponding first weight, and the product of the mass evaluation value corresponding to the particle swarm and the corresponding second weight; an update module, used to update the velocity information and position information of each particle using the particle swarm algorithm, and calculate the fitness value corresponding to the updated position information; and a first fitness value comparison module, used to compare... The system comprises: a first fitness value module, which compares the fitness value of the updated position information of each particle with the fitness value of the initial individual's best position; a second fitness value comparison module, which compares the fitness value of the updated position information of each particle with the fitness value of the initial global best position; and a third fitness value comparison module, which iterates until a termination condition is met to determine the target switching vector and to determine the target switching strategy based on the target switching vector.

[0101] Optionally, the device 600 further includes: a quality assessment value determination module, used to pre-determine the quality assessment value corresponding to the particle swarm, wherein the quality assessment value determination module includes: a path length determination module, used to determine the path length corresponding to each docking switching point, wherein the path length corresponding to the docking switching point is used to indicate the path length between the current docking switching point and the next docking switching point; a notification quality assessment value determination module, used to determine the communication quality assessment value corresponding to the satellite selected for switching at each docking switching point; a quality assessment value calculation module, used to calculate the quality assessment value corresponding to each docking switching point, wherein the quality assessment value is used to indicate the product between the communication quality assessment value and the path length; and a quality assessment value determination submodule, which determines the sum of the quality assessment values ​​corresponding to the various docking switching points as the quality assessment value corresponding to the particle swarm.

[0102] Optionally, the notification quality assessment value determination module includes: a parameter and weight determination module, used to determine the communication performance parameters corresponding to the selected satellite and determine the weights corresponding to each communication performance parameter; and a notification quality assessment value determination submodule, used to calculate the product between each communication performance parameter and its corresponding weight, and determine the communication quality assessment value based on the sum of the products.

[0103] Optionally, the communication performance parameters include: the elevation angle between the selected satellite and the docking switching point, the signal-to-noise ratio of the selected satellite, the latency of the selected satellite, and the remaining bandwidth of the communication link of the selected satellite.

[0104] Thus, according to this embodiment, the technical effect of maximizing the communication quality of terminal devices, avoiding communication interruptions, and improving data transmission performance is achieved.

[0105] Example 3

[0106] Figure 7 A multi-satellite-based complex terrain communication device 700 according to this embodiment is shown, which corresponds to the method described according to Embodiment 1. (Reference) Figure 7 As shown, the device 700 includes: a processor 710; and a memory 720 connected to the processor 710, used to provide the processor 710 with instructions to process the following steps: determining the navigation path and moving speed of the terminal device, and determining in real time the trajectory information of the terminal device within a predetermined time period relative to the current time, wherein the trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device, and the time information corresponding to the trajectory points; determining the three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device; and determining the three-dimensional terrain information based on the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites, and the three-dimensional terrain. The system identifies satellite docking information corresponding to each spatiotemporal trajectory point, indicating which satellites can dock with the terminal device at each point. Based on this docking information, it determines docking switching points and, based on these points, determines switching vectors. The docking switching points indicate that the satellite docking information at the current spatiotemporal trajectory point differs from that at the previous point, and the switching vectors represent the satellites selected by the terminal device to dock at each switching point. Finally, using a particle swarm optimization algorithm and based on a pre-set objective function and switching vectors, it determines a target switching strategy and performs satellite switching according to this strategy.

[0107] Optionally, the operation of determining the three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device includes: using the terminal device and according to the corresponding trajectory information to obtain the three-dimensional terrain information corresponding to the coverage area from the geographic information platform, wherein the geographic information platform includes three-dimensional terrain information corresponding to multiple different regions.

[0108] The site selection process utilizes the particle swarm optimization algorithm and, based on a pre-defined objective function and switching vector, determines the target switching strategy. This includes: random initialization based on the switching vector to generate a particle swarm containing multiple particles and determining the corresponding particle swarm parameters, such as initial individual optimal position, initial global optimal position, initial position, initial velocity, initial inertia weight, random number, and number of iterations; defining the objective function, which represents the sum of the product of the number of switching iterations and the corresponding first weight, and the product of the particle swarm's mass evaluation value and the corresponding second weight; updating the velocity and position information of each particle using the particle swarm optimization algorithm, and calculating the fitness corresponding to the updated position information. The process iterates through the following steps: First, the fitness value of the updated position information of each particle is compared with the fitness value of the initial individual's best position. If the fitness value of the updated position information of the particle is less than the fitness value of the initial individual's best position, the fitness value of the initial individual's best position is updated to the fitness value of the updated position information of the particle. Then, the fitness value of the updated position information of each particle is compared with the fitness value of the initial global best position. If the fitness value of the updated position information of any particle is less than the fitness value of the initial global best position, the fitness value of the initial global best position is updated to the fitness value of the corresponding updated position information of the particle. This process is repeated until the termination condition is met. Finally, the target switching vector is determined, and the target switching strategy is determined based on the target switching vector.

[0109] Optionally, the apparatus 700 further includes: pre-determining a quality assessment value corresponding to the particle swarm, wherein the operation of pre-determining the quality assessment value corresponding to the particle swarm includes: determining the path length corresponding to each docking switch point, wherein the path length corresponding to the docking switch point is used to indicate the path length between the current docking switch point and the next docking switch point; determining the communication quality assessment value corresponding to the satellite selected for switching at each docking switch point; calculating the quality assessment value corresponding to each docking switch point, wherein the quality assessment value is used to indicate the product between the communication quality assessment value and the path length; and, given the determined quality assessment values ​​corresponding to each docking switch point, determining the quality assessment value corresponding to the particle swarm.

[0110] Optionally, the operation of determining the communication quality assessment value corresponding to the satellite selected for switching at each docking switching point includes: determining the communication performance parameters corresponding to the selected satellite for switching, and determining the weights corresponding to each communication performance parameter; and calculating the product between each communication performance parameter and its corresponding weight, and determining the communication quality assessment value based on the sum of the products.

[0111] Optionally, the communication performance parameters include: the elevation angle between the selected satellite and the docking switching point, the signal-to-noise ratio of the selected satellite, the latency of the selected satellite, and the remaining bandwidth of the communication link of the selected satellite.

[0112] Thus, according to this embodiment, the technical effect of maximizing the communication quality of terminal devices, avoiding communication interruptions, and improving data transmission performance is achieved.

[0113] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0114] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0115] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0116] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0117] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0118] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0119] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multi-satellite-based communication method for complex terrain, characterized in that, include: The navigation path and moving speed of the terminal device are determined, and the trajectory information of the terminal device within a predetermined time period relative to the current time is determined in real time. The trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device and the time information corresponding to the trajectory points. Based on the trajectory information corresponding to the terminal device, the three-dimensional terrain information within the coverage area corresponding to the trajectory information is determined; Based on the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites, and the three-dimensional terrain information, satellite docking information corresponding to each spatiotemporal trajectory point is determined, wherein the satellite docking information is used to indicate the satellites that can dock with the terminal device at each spatiotemporal trajectory point; Based on the satellite docking information corresponding to each spatiotemporal trajectory point, a docking switching point is determined, and a switching vector is determined based on the docking switching point. The docking switching point is used to indicate that the satellite docking information of the current spatiotemporal trajectory point is different from the satellite docking information of the previous spatiotemporal trajectory point, and the switching vector represents the satellite selected by the terminal device to dock at each docking switching point. as well as Using a particle swarm optimization algorithm, and based on a pre-set objective function and the switching vector, a target switching strategy is determined, and satellite switching is performed according to the target switching strategy. The operation of using the particle swarm optimization algorithm to determine the target switching strategy based on the pre-set objective function and the switching vector includes: Random initialization is performed based on the switching vector to generate a particle swarm containing multiple particles and determine the particle swarm parameters corresponding to the particle swarm. The particle swarm parameters include the initial individual optimal position, the initial global optimal position, the initial position, the initial velocity, the initial inertial weight, the random number, the number of iterations, and the learning factor. Define an objective function, wherein the objective function is used to indicate the sum of the product of the number of switching corresponding to the particle swarm and the corresponding first weight, and the product of the mass evaluation value corresponding to the particle swarm and the corresponding second weight; The particle swarm optimization algorithm is used to update the velocity and position information of each particle, and the fitness value corresponding to the updated position information is calculated. The fitness value of the updated position information of the particle is compared with the fitness value of the initial individual's best position. If the fitness value of the updated position information of the particle is less than the fitness value of the initial individual's best position, the fitness value of the initial individual's best position is updated to the fitness value of the updated position information of the particle. Compare the fitness values ​​of the updated position information of each particle with the fitness value of the initial global best position, and if there is a particle whose updated position information fitness value is less than the initial global best position fitness value, update the fitness value of the initial global best position to the corresponding particle's updated position information fitness value; and The process is iterated repeatedly until the termination condition is met, the target switching vector is determined, and the target switching strategy is determined based on the target switching vector.

2. The method of claim 1, wherein, The operation of determining three-dimensional terrain information within the coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device includes: Using the terminal device and based on the corresponding trajectory information, three-dimensional terrain information corresponding to the coverage area is obtained from the geographic information platform, wherein the geographic information platform includes three-dimensional terrain information corresponding to multiple different regions.

3. The method of claim 2, wherein, Also includes: Pre-determine a mass assessment value corresponding to the particle swarm, wherein the operation of pre-determining the mass assessment value corresponding to the particle swarm includes: Determine the path length corresponding to each docking switching point, wherein the path length corresponding to each docking switching point is used to indicate the path length between the current docking switching point and the next docking switching point; Determine the communication quality assessment value corresponding to the satellite selected for switching at each docking and switching point; Calculate the quality assessment value corresponding to each of the docking switching points, wherein the quality assessment value is used to indicate the product between the communication quality assessment value and the path length; and The sum of the quality assessment values ​​corresponding to each docking switching point is determined as the quality assessment value corresponding to the particle swarm.

4. The method according to claim 3, characterized in that, The operation of determining the communication quality assessment value corresponding to the satellite selected for switching at each docking point includes: Determine the communication performance parameters corresponding to the selected satellite for switching, and determine the weights corresponding to each communication performance parameter; and Calculate the product between each communication performance parameter and its corresponding weight, and determine the communication quality assessment value based on the sum of the products.

5. The method of claim 4, wherein, The communication performance parameters include: the elevation angle between the selected satellite and the docking point, the signal-to-noise ratio of the selected satellite, the latency of the selected satellite, and the remaining bandwidth of the communication link of the selected satellite.

6. A storage medium, characterized by The storage medium includes a stored program, wherein, when the program is executed, the method described in any one of claims 1 to 5 is performed by a processor.

7. A multi-satellite based complex terrain communication apparatus, characterized by, include: The trajectory information determination module is used to determine the navigation path and moving speed of the terminal device, and to determine the trajectory information of the terminal device in a predetermined time period relative to the current time. The trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device and the time information corresponding to the trajectory points. A three-dimensional terrain information determination module is used to determine three-dimensional terrain information within a coverage area corresponding to the trajectory information based on the trajectory information corresponding to the terminal device. The satellite docking information determination module is used to determine the satellite docking information corresponding to each spatiotemporal trajectory point based on the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites and the three-dimensional terrain information, wherein the satellite docking information is used to indicate the satellites that can dock with the terminal device at each spatiotemporal trajectory point; The switching vector determination module is used to determine the docking switching point based on the satellite docking information corresponding to each spatiotemporal trajectory point, and to determine the switching vector based on the docking switching point, wherein the docking switching point is used to indicate that the satellite docking information of the current spatiotemporal trajectory point is different from the satellite docking information of the previous spatiotemporal trajectory point, and the switching vector represents the satellite selected by the terminal device to dock at each docking switching point; as well as The target switching strategy determination module is used to determine the target switching strategy using a particle swarm optimization algorithm, based on a pre-set objective function and the switching vector, and to perform satellite switching according to the target switching strategy. The target switching strategy determination module includes a random initialization module, used to perform random initialization based on the switching vector, generate a particle swarm containing multiple particles, and determine the particle swarm parameters corresponding to the particle swarm. The particle swarm parameters include initial individual optimal position, initial global optimal position, initial position, initial velocity, initial inertial weight, random number, number of iterations, and learning factor. The objective function definition module is used to define the objective function, wherein the objective function is used to indicate the sum of the product of the number of switching corresponding to the particle swarm and the corresponding first weight, and the product of the mass evaluation value corresponding to the particle swarm and the corresponding second weight; The update module is used to update the velocity and position information of each particle using the particle swarm algorithm, and calculate the fitness value corresponding to the updated position information. The first fitness value comparison module is used to compare the fitness value of the updated position information of the particle with the fitness value of the initial individual's best position, and if the fitness value of the updated position information of the particle is less than the initial individual's best fitness value, the fitness value of the initial individual's best position is updated to the fitness value of the updated position information of the particle. The second fitness value comparison module is used to compare the fitness value of the updated position information of each particle with the fitness value of the initial global best position, and, if there is a particle whose updated position information fitness value is less than the initial global best position fitness value, update the initial global best position fitness value to the corresponding particle's updated position information fitness value; and The target switching vector determination module is used to iterate repeatedly until a termination condition is reached, determine the target switching vector, and determine the target switching strategy based on the target switching vector.

8. The apparatus of claim 7, wherein, The three-dimensional terrain information determination module includes a three-dimensional terrain information acquisition module, which is used to acquire three-dimensional terrain information corresponding to the coverage area from a geographic information platform using the terminal device and according to the corresponding trajectory information, wherein the geographic information platform includes three-dimensional terrain information corresponding to multiple different regions.

9. A multi-satellite based complex terrain communication apparatus, characterized by, include: processor; as well as A memory, connected to the processor, for providing the processor with instructions to perform the following processing steps: The navigation path and moving speed of the terminal device are determined, and the trajectory information of the terminal device within a predetermined time period relative to the current time is determined in real time. The trajectory information includes multiple spatiotemporal trajectory points, and the spatiotemporal trajectory points include the location information of the trajectory points of the terminal device and the time information corresponding to the trajectory points. Based on the trajectory information corresponding to the terminal device, the three-dimensional terrain information within the coverage area corresponding to the trajectory information is determined; Based on the trajectory information corresponding to the terminal device, the ephemeris information of multiple satellites, and the three-dimensional terrain information, satellite docking information corresponding to each spatiotemporal trajectory point is determined, wherein the satellite docking information is used to indicate the satellites that can dock with the terminal device at each spatiotemporal trajectory point; Based on the satellite docking information corresponding to each spatiotemporal trajectory point, a docking switching point is determined, and a switching vector is determined based on the docking switching point. The docking switching point is used to indicate that the satellite docking information of the current spatiotemporal trajectory point is different from the satellite docking information of the previous spatiotemporal trajectory point, and the switching vector represents the satellite selected by the terminal device to dock at each docking switching point. as well as Using a particle swarm optimization algorithm, and based on a pre-set objective function and the switching vector, a target switching strategy is determined, and satellite switching is performed according to the target switching strategy. The operation of using the particle swarm optimization algorithm to determine the target switching strategy based on the pre-set objective function and the switching vector includes: Random initialization is performed based on the switching vector to generate a particle swarm containing multiple particles and determine the particle swarm parameters corresponding to the particle swarm. The particle swarm parameters include the initial individual optimal position, the initial global optimal position, the initial position, the initial velocity, the initial inertial weight, the random number, the number of iterations, and the learning factor. Define an objective function, wherein the objective function is used to indicate the sum of the product of the number of switching corresponding to the particle swarm and the corresponding first weight, and the product of the mass evaluation value corresponding to the particle swarm and the corresponding second weight; The particle swarm optimization algorithm is used to update the velocity and position information of each particle, and the fitness value corresponding to the updated position information is calculated. The fitness value of the updated position information of the particle is compared with the fitness value of the initial individual's best position. If the fitness value of the updated position information of the particle is less than the fitness value of the initial individual's best position, the fitness value of the initial individual's best position is updated to the fitness value of the updated position information of the particle. The fitness values ​​of the updated position information of each particle are compared with the fitness value of the initial global best position. If the fitness value of the updated position information of a particle is less than the fitness value of the initial global best position, the fitness value of the initial global best position is updated to the fitness value of the updated position information of the corresponding particle. The process is repeated until a termination condition is reached, a target switching vector is determined, and a target switching strategy is determined based on the target switching vector.

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