Method and apparatus for determining routing path, storage medium and electronic device

Abstract

This invention discloses a method, apparatus, storage medium, and electronic device for determining a routing path. The method includes: determining the link cost of a target link, wherein the target link includes links between a first satellite and each of the second satellites, the first and second satellites being adjacent, and the link cost indicating the cost of transmitting data through the target link; determining the remaining cost from each second satellite to the target satellite, wherein the target satellite is the destination satellite for receiving data; determining intermediate satellites from a plurality of second satellites based on the link cost and the remaining cost; and determining a routing path from a source satellite to the target satellite based on the intermediate satellites, wherein the source satellite is the satellite transmitting data to the target satellite. This application solves the problem of high communication overhead in the determined routing paths of related technologies, achieving the effect of reducing path communication overhead.

Description

Technical Field

[0001] This application relates to the field of satellite communications, and more specifically, to a method, apparatus, storage medium, and electronic device for determining a routing path. Background Technology

[0002] In related technologies, methods for determining routing paths cannot accurately determine the true cost of the path, resulting in high overhead for the determined routing paths.

[0003] This indicates that the relevant technologies suffer from the problem of high communication overhead for determined routing paths.

[0004] There is currently no effective solution to the aforementioned problems in the relevant technologies. Summary of the Invention

[0005] This application provides a method, apparatus, storage medium, and electronic device for determining a routing path, in order to at least solve the technical problem of high communication overhead in the determined routing path in the related art.

[0006] According to one aspect of the embodiments of this application, a method for determining a routing path is provided, comprising: determining the link cost of a target link, wherein the target link includes links between a first satellite and each of the second satellites, the first satellites being adjacent to the second satellites, and the link cost indicating the cost of transmitting data through the target link; determining the remaining cost from each of the second satellites to the target satellite, wherein the target satellite is a destination satellite for receiving data; determining intermediate satellites from a plurality of second satellites based on the link cost and the remaining cost; and determining a routing path from a source satellite to the target satellite based on the intermediate satellite, wherein the source satellite is a satellite that transmits data to the target satellite.

[0007] In an exemplary embodiment, determining the link cost of a target link includes: determining the target cost of the target link, wherein determining the target cost of the target link includes at least one of the following: determining the latency cost of the target link, determining the stability cost of the target link, determining the energy cost of the target link, determining the gap penalty term of the target link, determining the polar region penalty term of the target link; and determining the link cost based on the target cost.

[0008] In an exemplary embodiment, determining the delay cost of the target link includes: determining a first true anomaly angle of the first satellite and a second true anomaly angle of the second satellite; determining a first distance from the first satellite to the Earth's center and a second distance from the second satellite to the Earth's center; determining a first position vector of the first satellite in an orbital coordinate system based on the first true anomaly angle and the first distance, and determining a second position vector of the second satellite in an orbital coordinate system based on the second true anomaly angle and the second distance; transforming the first position vector to a geocentric inertial coordinate system to obtain a third position vector, and transforming the second position vector to the geocentric inertial coordinate system to obtain a fourth position vector; and determining the delay cost based on the third position vector and the fourth position vector.

[0009] In an exemplary embodiment, determining the delay cost based on the third position vector and the fourth position vector includes: determining a first difference vector between the fourth position vector and the third position vector; determining the magnitude of the first difference vector to obtain a first magnitude value; and determining the first ratio of the first magnitude value to the speed of light as the delay cost.

[0010] In one exemplary embodiment, determining the stability cost of the target link includes: determining the duration of the target link; determining the link quality of the target link; and determining the stability cost based on the duration and the link quality.

[0011] In one exemplary embodiment, determining the stability cost based on the duration and the link quality includes: determining a first product of the duration and the link quality; and determining the reciprocal of the first product as the stability cost.

[0012] In an exemplary embodiment, determining the duration of the target link includes: determining the relative distance between the first satellite and the second satellite; determining the distance relationship between the relative distance and the maximum communication distance of the inter-satellite link; determining the shortest distance point to the Earth's center included in the target straight line, wherein the target straight line is the straight line formed by the first satellite and the second satellite; determining whether the target link is blocked by the Earth based on the shortest distance point, thereby obtaining an obstruction relationship; determining the pointing relationship between the antennas of the first satellite and the antennas of the second satellite; and determining the duration based on the distance relationship, the obstruction relationship, and the pointing relationship.

[0013] In an exemplary embodiment, determining the duration based on the distance relationship, the obstruction relationship, and the pointing relationship includes: determining a first time when the distance relationship indicates that the relative distance is less than or equal to the maximum communication distance; determining a second time when the obstruction relationship indicates that the target link is not obstructed by the Earth; determining a third time when the pointing relationship indicates that the antennas of the first satellite and the antennas of the second satellite are pointing at each other; and determining the intersection time of the first time, the second time, and the third time as the duration.

[0014] In an exemplary embodiment, determining the shortest distance point to the Earth's center included in the target straight line includes: determining a third position vector of the first satellite in a geocentric inertial coordinate system, and determining a fourth position vector of the second satellite in a geocentric inertial coordinate system; determining a first difference vector between the fourth position vector and the third position vector; determining a second product of the third position vector and the first difference vector; determining the square of the magnitude of the first difference vector as a first value; determining the negative of a second ratio of the second product to the first value as a shortest distance parameter; and determining the shortest distance point based on the shortest distance parameter.

[0015] In an exemplary embodiment, determining the shortest distance point based on the shortest distance parameter includes: determining that the shortest distance point is between the first satellite and the second satellite in response to the shortest distance parameter being greater than a first threshold and less than a second threshold; determining that the location of the first satellite is the shortest distance point in response to the shortest distance parameter being less than or equal to the first threshold; and determining that the location of the second satellite is the shortest distance point in response to the shortest distance parameter being greater than or equal to the second threshold.

[0016] In an exemplary embodiment, determining whether the target link is blocked by the Earth based on the shortest distance point, and obtaining the blocking relationship, includes: in response to the shortest distance point being between the first satellite and the second satellite, determining the shortest distance from the shortest distance point to the Earth's center; and determining the blocking relationship based on the shortest distance.

[0017] In an exemplary embodiment, determining the shortest distance from the shortest distance point to the Earth's center includes: determining a third product of the shortest distance parameter and a first difference vector, wherein the first difference vector is the difference between a third position vector and a fourth position vector, the third position vector being the vector of the first satellite in the geocentric inertial coordinate system, and the fourth position vector being the vector of the second satellite in the geocentric inertial coordinate system; determining a first sum of the third product and the third position vector; and determining the magnitude of the first sum as the shortest distance.

[0018] In an exemplary embodiment, determining the occlusion relationship based on the shortest distance includes: in response to the shortest distance being less than a preset distance, determining that the occlusion relationship is that the target link is occluded by the Earth; and in response to the shortest distance being greater than or equal to the preset distance, determining that the occlusion relationship is that the target link is not occluded by the Earth.

[0019] In an exemplary embodiment, determining whether the target link is blocked by the Earth based on the shortest distance point, and obtaining the blocking relationship, includes: in response to the shortest distance point being the location of the first satellite, determining the magnitude of the third position vector as a first magnitude value, wherein the third position vector is the vector of the first satellite in the geocentric inertial coordinate system; in response to the first magnitude value being much greater than the Earth's radius, determining that the blocking relationship is not blocked by the Earth; and in response to the first magnitude value not being much greater than the Earth's radius, determining that the blocking relationship is blocked by the Earth.

[0020] In an exemplary embodiment, determining whether the target link is blocked by the Earth based on the shortest distance point, and obtaining the blocking relationship, includes: in response to the shortest distance point being the location of the second satellite, determining the magnitude of the fourth position vector as the second magnitude value, wherein the fourth position vector is the vector of the second satellite in the geocentric inertial coordinate system; in response to the second magnitude value being much greater than the Earth's radius, determining that the blocking relationship is not blocked by the Earth; in response to the second magnitude value not being much greater than the Earth's radius, determining that the blocking relationship is blocked by the Earth.

[0021] In an exemplary embodiment, determining the pointing relationship between the antennas of the first satellite and the antennas of the second satellite includes: determining a first unit vector pointing from the first satellite to the second satellite, and determining a second unit vector pointing from the second satellite to the first satellite; determining a first maximum scan angle of the antenna of the first satellite, and determining a second maximum scan angle of the antenna of the second satellite; determining a first pointing relationship of the first satellite based on the first unit vector and the first maximum scan angle; determining a second pointing relationship of the second satellite based on the second unit vector and the second maximum scan angle; and determining the pointing relationship based on the first pointing relationship and the second pointing relationship.

[0022] In an exemplary embodiment, determining the first pointing relationship of the first satellite based on the first unit vector and the first maximum scan angle includes: determining a first velocity vector of the first satellite in a geocentric inertial coordinate system; constructing a first orbital coordinate system of the first satellite based on the first velocity vector; determining a first rotation matrix based on the first orbital coordinate system; transforming the first unit vector into the first orbital coordinate system based on the first rotation matrix to obtain a first vector; determining a first nominal vector pre-set for the antenna of the first satellite; and determining the first pointing relationship based on the first vector, the first nominal vector, and the first maximum scan angle.

[0023] In an exemplary embodiment, determining the first pointing relationship based on the first vector, the first nominal vector, and the first maximum scan angle includes: determining a fourth product of the first vector and the first nominal vector; determining a first cosine value of the fourth product; determining a first semi-major axis of the orbit of the first satellite; determining a fifth product of the first cosine value and the first semi-major axis; determining the first pointing relationship as the antenna of the first satellite points to the antenna of the second satellite in response to the fifth product being less than or equal to the first maximum scan angle; and determining the first pointing relationship as the antenna of the first satellite does not point to the antenna of the second satellite in response to the fifth product being greater than the first maximum scan angle.

[0024] In an exemplary embodiment, determining the second pointing relationship of the second satellite based on the second unit vector and the second maximum scan angle includes: determining the second velocity vector of the second satellite in a geocentric inertial coordinate system; constructing a second orbital coordinate system of the second satellite based on the second velocity vector; determining a second rotation matrix based on the second orbital coordinate system; transforming the second unit vector into the second orbital coordinate system based on the second rotation matrix to obtain a second vector; determining a second nominal vector pre-set for the antenna of the second satellite; and determining the second pointing relationship based on the second vector, the second nominal vector, and the second maximum scan angle.

[0025] In one exemplary embodiment, determining the second pointing relationship based on the second vector, the second nominal vector, and the second maximum scan angle includes: determining a sixth product of the second vector and the second nominal vector; determining a second cosine value of the sixth product; determining a second semi-major axis of the orbit of the second satellite; determining a seventh product of the second cosine value and the second semi-major axis; determining the second pointing relationship as the antenna of the second satellite points to the antenna of the first satellite in response to the seventh product being less than or equal to the second maximum scan angle; and determining the second pointing relationship as the antenna of the second satellite does not point to the antenna of the first satellite in response to the seventh product being greater than the second maximum scan angle.

[0026] In an exemplary embodiment, determining the pointing relationship based on the first pointing relationship and the second pointing relationship includes: in response to the first pointing relationship being that the antenna of the first satellite points to the antenna of the second satellite, and the second pointing relationship being that the antenna of the second satellite points to the antenna of the first satellite, determining that the pointing relationship is that the antenna of the first satellite and the antenna of the second satellite point to each other; in response to the first pointing relationship being that the antenna of the first satellite does not point to the antenna of the second satellite, and / or the second pointing relationship being that the antenna of the second satellite points to the antenna of the first satellite, determining that the pointing relationship is that the antenna of the first satellite and the antenna of the second satellite do not point to each other.

[0027] In one exemplary embodiment, determining the link quality of the target link includes: determining the signal-to-noise ratio of the target link at predetermined time intervals; and determining a first average value of the signal-to-noise ratio as the link quality.

[0028] In one exemplary embodiment, determining the link quality of the target link includes: determining a third distance between the first satellite and the second satellite at predetermined time intervals; determining a second average value of the square of the third distance; and determining the second average value as the link quality.

[0029] In one exemplary embodiment, determining the energy cost of the target link includes: determining the target energy required to transmit data units through the target link; and determining the target energy as the energy cost.

[0030] In an exemplary embodiment, determining the target energy required to transmit data units through the target link includes: determining the square of a third distance between the first satellite and the second satellite; and determining the target energy as the product of an energy weighting factor and the squared value.

[0031] In an exemplary embodiment, determining the gap penalty term of the target link includes: determining a first velocity vector of the first satellite and determining a second velocity vector of the second satellite; and determining the gap penalty term based on the first velocity vector and the second velocity vector.

[0032] In an exemplary embodiment, determining the gap penalty term based on the first velocity vector and the second velocity vector includes: in response to the plane where the first satellite is located and the plane where the second satellite is located satisfying a first preset condition, determining a third velocity vector of the first satellite relative to the geocentric-geocentric coordinate system based on the first velocity vector, and determining a fourth velocity vector of the second satellite relative to the geocentric-geocentric coordinate system based on the second velocity vector; determining the gap penalty term as the product of the magnitude of the difference between the fourth velocity vector and the third velocity vector and a weighting constant; and determining the gap penalty term as a first constant in response to the plane where the first satellite is located and the plane where the second satellite is located not satisfying the first preset condition.

[0033] In an exemplary embodiment, determining the polar penalty term of the target link includes: determining a third position vector of the first satellite in a geocentric inertial coordinate system, and determining a fourth position vector of the second satellite in a geocentric inertial coordinate system; determining a first geocentric latitude of the first satellite based on the third position vector, and determining a second geocentric latitude of the second satellite based on the fourth position vector; and determining the polar penalty term based on the first geocentric latitude and the second geocentric latitude.

[0034] In an exemplary embodiment, determining the polar region penalty term based on the first geocentric latitude and the second geocentric latitude includes: determining a second constant as the polar region penalty term in response to the first geocentric latitude and the second geocentric latitude satisfying a second preset condition; and determining a third constant as the polar region penalty term in response to the first geocentric latitude and the second geocentric latitude not satisfying the second preset condition; wherein the second preset condition includes a first absolute value of the first geocentric latitude being greater than a first preset angle, or a second absolute value of the second geocentric latitude being greater than the first preset angle, and the second constant being different from the third constant.

[0035] In an exemplary embodiment, determining the polar region penalty term based on the first geocentric latitude and the second geocentric latitude includes: responding to the first geocentric latitude and the second geocentric latitude satisfying a second preset condition, wherein the second preset condition includes a first absolute value of the first geocentric latitude being greater than a first preset angle, or a second absolute value of the second geocentric latitude being greater than the first preset angle; determining a second difference between the first absolute value and the first preset angle; determining a third difference between the second difference and the third difference; determining a first maximum value among the third ratio and a preset constant; determining a fourth difference between the second absolute value and the first preset angle; determining a fourth ratio between the fourth difference and the third difference; determining a second maximum value among the fourth ratio and the preset constant; determining a ninth product of the first maximum value and a preset penalty value, and determining a tenth product of the second maximum value and the preset penalty value; and determining a second sum of the ninth product and the tenth product as the polar region penalty term.

[0036] In an exemplary embodiment, determining the link cost based on the target cost includes: determining the cost weight of the target cost; and determining the link cost as the product of the target cost and the cost weight.

[0037] In one exemplary embodiment, determining the remaining cost from each of the second satellites to the target satellite includes: determining the great circle distance between the second satellite and the target satellite; determining the transmission cost of transmitting data through the target link; and determining the remaining cost based on the great circle distance and the transmission cost.

[0038] In an exemplary embodiment, determining the remaining cost based on the great circle distance and the transmission cost includes: determining the remaining cost by multiplying the great circle distance and the transmission cost.

[0039] In one exemplary embodiment, determining the remaining cost from each of the second satellites to the target satellite includes: determining a first plane index of the second satellite and a second plane index of the target satellite; determining a minimum cross-plane hop count based on the first plane index, the second plane index, and the total number of orbital planes in the target constellation, wherein the target constellation includes the second satellites and the target satellite; determining the number of in-plane hops of the first plane index after the minimum cross-plane hop count; and determining the remaining cost based on the minimum cross-plane hop count and the number of in-plane hops.

[0040] In an exemplary embodiment, determining the remaining cost based on the shortest cross-plane hop count and the in-plane hop count includes: determining the cross-plane link cost and the in-plane link cost; determining the eleventh product of the cross-plane link cost and the shortest cross-plane hop count; determining the twelfth product of the in-plane link cost and the in-plane hop count; and determining the sum of the eleventh product and the twelfth product as the remaining cost.

[0041] In one exemplary embodiment, determining an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost includes: determining a third sum of the link cost and the remaining cost for each second satellite; and determining the satellite corresponding to the smallest sum included in the third sum as the intermediate satellite.

[0042] In one exemplary embodiment, after determining an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost, the method further includes: updating the first satellite as the intermediate satellite; and updating the second satellite as a neighboring satellite of the intermediate satellite.

[0043] In one exemplary embodiment, after determining an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost, the method further includes: in the event that the intermediate satellite fails, determining a replacement satellite from other satellites included in the plurality of second satellites, wherein the other satellites are satellites other than the intermediate satellite; and controlling the replacement satellite to replace the intermediate satellite.

[0044] According to another aspect of the embodiments of this application, a routing path determination apparatus is also provided, comprising: a first determining module, configured to determine the link cost of a target link, wherein the target link includes links between a first satellite and each of the second satellites, the first satellites being adjacent to the second satellites, and the link cost indicating the cost of transmitting data through the target link; a second determining module, configured to determine the remaining cost from each of the second satellites to the target satellite, wherein the target satellite is a destination satellite for receiving data; a third determining module, configured to determine an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost; and a fourth determining module, configured to determine a routing path from a source satellite to the target satellite based on the intermediate satellite, wherein the source satellite is a satellite that transmits data to the target satellite.

[0045] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed by a processor.

[0046] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0047] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to perform the steps of any of the above method embodiments through the computer program.

[0048] This application allows for the determination of the link cost of the target link and the remaining cost from each second satellite to the target satellite. Intermediate satellites are selected based on the link cost and remaining cost, and the routing path from the source satellite to the target satellite is determined based on the intermediate satellites. Since the link cost and remaining cost are fully considered when determining the routing path, the overhead of the determined routing path can be minimized, thus solving the problem of high communication overhead in the determined routing path in related technologies and achieving the effect of reducing path communication overhead. Attached Figure Description

[0049] Figure 1 This is a flowchart illustrating an optional method for determining a routing path according to an embodiment of this application;

[0050] Figure 2 This is a flowchart of a method for determining a routing path according to a specific embodiment of the present invention;

[0051] Figure 3 This is a structural block diagram of an optional routing path determination device according to an embodiment of this application;

[0052] Figure 4 This is a computer system architecture block diagram for implementing an electronic device according to an embodiment of this application. Detailed Implementation

[0053] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0054] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application 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 application 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.

[0055] First, the parameters in the formulas appearing in this application will be explained.

[0056] Number of orbital elements:

[0057] : Semi-major axis;

[0058] :Eccentricity;

[0059] Track inclination;

[0060] Right Ascension of the Ascending Node (RAAN);

[0061] Argument of Perigee;

[0062] Mean Anomaly at epoch );

[0063] True Anomaly;

[0064] Eccentric Anomaly;

[0065] Argument of Latitude;

[0066] Fundamental physical constants:

[0067] Earth's standard gravitational constant ( );

[0068] :Speed ​​of light in vacuum;

[0069] Earth's average radius;

[0070] Boltzmann constant;

[0071] Time and position vectors:

[0072] :time;

[0073] : The satellite's position vector in the ECI coordinate system;

[0074] : The satellite's velocity vector in the ECI coordinate system;

[0075] The satellite's position vector in the orbital frame;

[0076] The instantaneous Euclidean distance between satellites A and B;

[0077] Antenna and link parameters:

[0078] Maximum ISL communication distance;

[0079] Maximum scanning angle of the antenna;

[0080] The nominal pointing vector of the antenna in its stellar coordinate system;

[0081] Transmission power;

[0082] Antenna gain;

[0083] : Signal wavelength;

[0084] System noise temperature;

[0085] Noise bandwidth;

[0086] Signal-to-noise ratio;

[0087] Walker's Zodiac Parameters:

[0088] The total number of satellites in a constellation;

[0089] Number of orbital planes;

[0090] The number of satellites in each orbital plane;

[0091] Phase factor;

[0092] Coordinate systems and transformations:

[0093] ECI: Earth-Centered Inertial Coordinate System;

[0094] PQW: Perifocal Frame;

[0095] VVLH: Satellite body coordinate system (Velocity-Vector, Local-Horizontal);

[0096] ECRF: Earth-Centered Rotating Frame;

[0097] : The corresponding rotation matrix;

[0098] Cost function related:

[0099] : Each cost component;

[0100] Weights or proportionality constants;

[0101] Predict the duration of the link;

[0102] Average predicted link quality;

[0103] Geocentric latitude;

[0104] Earth's longitude;

[0105] Angular distance from the center of the ball;

[0106] Heuristic residual cost.

[0107] Key Walker constellation parameters can be found in Table 1.

[0108] Table 1

[0109]

[0110] The ISL connecting satellites A and B at time The prediction time window is Link cost at that time;

[0111] Satellite A at time ECI position vector;

[0112] Satellites A and B at time The instantaneous distance;

[0113] : Predicted link duration;

[0114] At any moment The predicted signal-to-noise ratio;

[0115] Penalty for crossing gaps;

[0116] Penalties for crossing polar regions;

[0117] : The time from node N to target node D Estimate the remaining cost;

[0118] Kepler orbital six-root number;

[0119] Physical constants.

[0120] Figure 1 This is a flowchart illustrating an optional method for determining a routing path according to an embodiment of this application, as shown below. Figure 1 As shown, the process of this method may include the following steps:

[0121] Step S102: Determine the link cost of the target link, wherein the target link includes links between the first satellite and each of the second satellites, the first satellite and the second satellites being adjacent, and the link cost is used to indicate the cost of transmitting data through the target link;

[0122] In this embodiment, the target link can be an inter-satellite link, such as a laser link or a radio frequency link. The first and second satellites can be satellites in the same constellation, which can be a Walker Delta or Walker Star constellation defined by parameters T (total number of satellites), P (number of orbital planes), F (phase factor), orbital inclination i, and orbital altitude h. Satellites in the constellation have onboard processing capabilities for performing routing calculations and are equipped with inter-satellite links (ISL), for example, each satellite is configured with two in-plane ISLs and two inter-plane ISLs. Each satellite can accurately determine its own orbital position and velocity vector through, for example, GNSS and orbital element propagators, and is aware of the ephemeris data or generation algorithms of all other satellites in the constellation.

[0123] In this embodiment, the target link can be a sub-link included in the routing path, and multiple sub-links constitute the routing path. For example, if the source satellite of the routing path is A, the target satellite is B, and intermediate satellites can include satellites C, D, and E, the routing path can be A→C→D→E→B. In this case, the link between A and C is the target link, the link between C and D is the target link, the link between D and E is the target link, and the link between E and B is the target link. When determining the link cost of the target link, the source satellite A can be designated as the first satellite, the adjacent satellites of the source satellite can be designated as the second satellite, and intermediate satellites, such as satellite C, can be identified from the second satellites. After identifying satellite C, satellite C can be designated as the first satellite, and the intermediate satellites can be further identified.

[0124] In this embodiment, the link cost C between each satellite (or new data streams on demand) and all potential ISLs between all direct neighbors (typically four in the Walker constellation: front, rear, left, and right) can be calculated periodically. link This calculation uses its own orbital data as well as known neighboring satellite ephemeris / generation algorithms. It can be achieved by minimizing the composite cost function of all links along the path. To select a routing path. The cost of any inter-satellite link (ISL) (connecting satellite A (the first satellite) and satellite B (the second satellite)) is... It was derived through analytical methods. Among them, This is the link cost.

[0125] Step S104: Determine the remaining cost from each of the second satellites to the target satellite, wherein the target satellite is the destination satellite used to receive data;

[0126] In this embodiment, the residual cost can be heuristic residual cost. .

[0127] Step S106: Determine the intermediate satellite from the plurality of second satellites based on the link cost and the remaining cost;

[0128] In this embodiment, the first satellite calculates its distance to each neighboring node, i.e., the distance to the second satellite N. This refers to the link cost. It forwards packets (or path request probe packets) to neighbor N, which makes neighbor N such that... Minimize. That is, minimize the minimum. The corresponding satellite has been identified as the intermediate satellite.

[0129] In this embodiment, satellite S calculates locally the Clink to all its neighbors N, and the Estimated_Cost_to_Go from each neighbor N to the final target D. Then, it compares the "total estimated cost" (Clink + Estimated_Cost_to_Go) of all neighbors and forwards the data packet only to the neighbor N* that minimizes the total cost, i.e., the intermediate satellite.

[0130] Step S108: Determine the routing path from the source satellite to the target satellite based on the intermediate satellite, wherein the source satellite is the satellite that sends data to the target satellite.

[0131] In this embodiment, once the intermediate satellite is determined, a routing path is established, and the source satellite can send data to the target satellite through the routing path.

[0132] In this embodiment, precise selection of data transmission paths in the Low Earth Orbit Walker constellation network is achieved by analytically calculating the inter-satellite link cost and remaining path cost. In principle, this method utilizes analytical solutions to satellite orbital dynamics and topological characteristics, ensuring the accuracy and predictability of cost calculations. In terms of effectiveness, the technology in this embodiment significantly improves the efficiency and reliability of data transmission, avoiding packet loss caused by network congestion and link instability through intelligent link selection. In other embodiments, path selection under specific Quality of Service (QoS) requirements can be optimized by dynamically adjusting weighting factors, solving link optimization problems in different service scenarios.

[0133] The routing path determination method in this embodiment can be applied to the field of satellite communication and to scenarios where routing paths need to be determined.

[0134] For example, the entity performing the above steps can be a processor, such as a central controller, which can be deployed in the source satellite or can be a standalone control device.

[0135] The embodiments provided in this application can determine the link cost of the target link and the remaining cost from each second satellite to the target satellite. Intermediate satellites are selected based on the link cost and the remaining cost, and the routing path from the source satellite to the target satellite is determined based on the intermediate satellites. Since the link cost and the remaining cost are fully considered when determining the routing path, the overhead of the determined routing path can be minimized, thus solving the problem of high communication overhead of the determined routing path in related technologies and achieving the effect of reducing path communication overhead.

[0136] In an exemplary embodiment, determining the link cost of a target link includes: determining the target cost of the target link, wherein determining the target cost of the target link includes at least one of: determining the latency cost of the target link, determining the stability cost of the target link, determining the energy cost of the target link, determining the gap penalty term of the target link, and determining the polar region penalty term of the target link; and determining the link cost based on the target cost. In this embodiment, the target cost may include one or more of latency cost, stability cost, energy cost, gap penalty term, and polar region penalty term. When the target cost includes one of these, the target cost can be determined as the link cost, or the product of the target cost and a weight can be determined as the link cost. When the target cost includes multiple terms, the sum of the multiple terms can be determined as the link cost, or a weighted sum of the multiple terms can be determined as the link cost.

[0137] This embodiment provides a comprehensive assessment of link costs by integrating multiple cost factors, covering signal propagation delay, link stability, energy consumption, constellation gaps, and the unique challenges of polar regions. In principle, the determination of these cost items is based on satellite orbital parameters and dynamics, ensuring the accuracy and predictability of the calculations. In terms of effectiveness, the technology in this embodiment can more accurately reflect the true cost of the link, thereby selecting a better transmission path and improving the overall performance of the network.

[0138] In an exemplary embodiment, determining the delay cost of the target link includes: determining a first true anomaly angle of the first satellite and a second true anomaly angle of the second satellite; determining a first distance from the first satellite to the Earth's center and a second distance from the second satellite to the Earth's center; determining a first position vector of the first satellite in the orbital coordinate system based on the first true anomaly angle and the first distance, and determining a second position vector of the second satellite in the orbital coordinate system based on the second true anomaly angle and the second distance; transforming the first position vector to the geocentric inertial coordinate system to obtain a third position vector, and transforming the second position vector to the geocentric inertial coordinate system to obtain a fourth position vector; and determining the delay cost based on the third position vector and the fourth position vector. In this embodiment, the propagation delay can be analytically calculated based on the instantaneous Euclidean distance between satellite A (i.e., the first satellite) and B (i.e., the second satellite) to obtain the delay cost. First, the third position vectors of satellites A and B in an inertial coordinate system (e.g., ECIJ2000) can be determined. and the fourth position vector These vectors can be derived from their Kepler orbital six roots. In the calendar The result was obtained through analytical calculation.

[0139] In this embodiment, the mean anomaly of the first satellite and the second satellite can be calculated. Taking the first satellite as satellite A as an example, the mean anomaly... Among them, translational motion (mean motion) , Let a be the Earth's gravitational constant, and aA represent the semi-major axis of satellite A's orbit. M0A can refer to the mean anomaly at epoch of satellite A at the initial time t0, where t represents the current time. The first true anomaly of the first satellite can be determined based on its mean anomaly. For example, the eccentric anomaly of the first satellite can be determined based on its mean anomaly. The eccentric anomaly is obtained by solving the Kepler equations. : This equation is typically solved using numerical methods such as Newton's iteration method. The first true anomaly of the first satellite. : Among them, e A This represents the eccentricity of the orbit of the first satellite, A.

[0140] In this embodiment, the first distance from the first satellite to the Earth's center can be calculated. Calculate the satellite's position vector in the Perifocal Frame (PQW): By rotation matrix Transform the position vector in the orbital coordinate system to the ECI coordinate system (geocentric inertial coordinate system) to obtain the third position vector. The rotation matrix can be represented as:

[0141] .

[0142] It is the perigee argument. It is a true near point angle. Usually, it is considered... Combination of latitude argument If latitude argument is used ,but Components become and The relevant form, and the last step of the rotation matrix is Instead Then multiply by the number containing The vector. To maintain consistency with standard conversions, use the above... Multiply get:

[0143] The third position vector can be represented as... The method for determining the fourth position vector of the second satellite is the same as that for the third position vector, and will not be repeated here. After determining the third and fourth position vectors, the delay cost can be determined based on them.

[0144] In this embodiment, a precise method for calculating delay costs is provided by analytically calculating the satellite's position vector in the orbital coordinate system and then transforming it to the geocentric inertial coordinate system. In principle, this calculation is based on Kepler orbital elements and time, utilizing analytical solutions of orbital dynamics to ensure the accuracy and predictability of delay costs. In terms of effectiveness, the technique in this embodiment can accurately assess signal propagation delay, providing crucial information for path selection and thus optimizing data transmission speed.

[0145] In an exemplary embodiment, determining the delay cost based on the third position vector and the fourth position vector includes: determining a first difference vector between the fourth position vector and the third position vector; determining the magnitude of the first difference vector to obtain a first magnitude value; and determining the delay cost as a first ratio of the first magnitude value to the speed of light. In this embodiment, the instantaneous Euclidean distance can be determined. That is, the first modulus value. Then the delay cost can be expressed as... ,in It is the speed of light. This is the first difference vector.

[0146] In this embodiment, a direct quantification method for delay cost is provided by calculating the distance between satellites in a geocentric inertial coordinate system. In principle, the calculation of delay cost is based on the analytical solution of the satellite position vector and the physical constant of the speed of light, ensuring the accuracy of the calculation and the rationality of its physical meaning. In terms of effect, the technique in this embodiment can accurately reflect signal propagation delay, providing a key quantitative indicator for path selection, thereby optimizing data transmission speed.

[0147] In one exemplary embodiment, determining the stability cost of the target link includes: determining the duration of the target link; determining the link quality of the target link; and determining the stability cost based on the duration and the link quality. In this embodiment, the stability cost may be inversely proportional to the predicted remaining duration and predicted quality of the ISL. Therefore, the duration and link quality of the target link can be determined. The product of the duration and link quality can be determined, and the reciprocal of the product is determined as the stability cost. Alternatively, the product of the duration, link quality, and configuration parameters can be determined, and the reciprocal of the product is determined as the stability cost.

[0148] In this embodiment, a method for quantifying stability costs is provided by analyzing and predicting link duration and quality. In principle, the prediction of link duration and quality is based on the satellite's orbital elements and relative geometric relationships, ensuring the accuracy and predictability of stability cost calculations. In terms of effectiveness, the technology in this embodiment can accurately assess link stability, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0149] In an exemplary embodiment, determining the stability cost based on the duration and the link quality includes: determining a first product of the duration and the link quality; and determining the reciprocal of the first product as the stability cost. In this embodiment, the stability cost can be expressed as... .if or (or below a certain preset threshold), then (or a very large penalty value). Among them, Indicates duration, Indicates link quality.

[0150] In this embodiment, a method for quantitatively calculating stability costs is provided by taking the reciprocal of the product of link duration and link quality. In principle, this calculation is based on analytical predictions of link duration and link quality, ensuring the rationality and predictability of the stability cost calculation. In terms of effectiveness, the technique in this embodiment accurately reflects link stability, providing key quantitative indicators for path selection, thereby improving the reliability and efficiency of data transmission.

[0151] In an exemplary embodiment, determining the duration of the target link includes: determining the relative distance between the first satellite and the second satellite; determining the distance relationship between the relative distance and the maximum communication distance of the inter-satellite link; determining the shortest distance point to the Earth's center included in the target straight line, wherein the target straight line is the straight line formed by the first satellite and the second satellite; determining whether the target link is blocked by the Earth based on the shortest distance point, obtaining an obstruction relationship; determining the pointing relationship between the antennas of the first satellite and the antennas of the second satellite; and determining the duration based on the distance relationship, the obstruction relationship, and the pointing relationship. In this embodiment, the relative distance can be expressed as... ,in, It can be the third position vector of the first satellite in the geocentric inertial reference frame. This is the fourth position vector of the second satellite in the geocentric inertial reference frame. Visibility conditions can be preset, and multiple visibility conditions can be included. The duration can be the time during which all visibility conditions are met. Visibility conditions can include distance relationships, occlusion relationships, and pointing relationships.

[0152] In this embodiment, a method for quantifying link duration is provided by analytically calculating the relative distance between satellites, Earth's obstruction, and antenna pointing relationships. In principle, this calculation is based on satellite orbital elements and time, utilizing analytical solutions of orbital dynamics to ensure the accuracy and predictability of the duration calculation. In terms of effectiveness, the technology in this embodiment can accurately predict link availability, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0153] In an exemplary embodiment, determining the duration based on the distance relationship, the obstruction relationship, and the pointing relationship includes: determining a first time when the distance relationship indicates that the relative distance is less than or equal to the maximum communication distance; determining a second time when the obstruction relationship indicates that the target link is not obstructed by the Earth; determining a third time when the pointing relationship indicates that the antennas of the first satellite and the second satellite are pointing at each other; and determining the intersection time of the first time, the second time, and the third time as the duration. In this embodiment, when determining the duration, a time window can be preset, and the prediction time window can be used to determine the duration. Within, by time step Sampling is performed at each sampling point. The third and fourth position vectors of the first and second satellites in the geocentric inertial coordinate system are determined, and the relative distance between the first and second satellites is determined based on these vectors. The relationship between the relative distance and the maximum communication distance is then established. The maximum communication distance can be the maximum ISL communication distance, and this maximum communication distance can have a one-to-one correspondence with the link type.

[0154] In this embodiment, distance relationships can include relative distances less than the maximum communication distance and relative distances greater than or equal to the maximum communication distance. Obstruction relationships can include the target link being obstructed by the Earth and the target link not being obstructed by the Earth. Pointing relationships can include the antennas of the first satellite and the second satellite pointing towards each other, and the antennas of the first satellite and the second satellite not pointing towards each other. The first constraint for distance relationships is that the relative distance is less than the maximum communication distance; the second constraint for obstruction relationships is that the target link is not obstructed by the Earth; and the third constraint for pointing relationships is that the antennas of the first satellite and the second satellite point towards each other. The intersection time that simultaneously satisfies the first, second, and third constraints is determined, and this intersection time is defined as the duration.

[0155] In this embodiment, when determining the duration, a time window can be preset, and the prediction time window can be used as a reference. Within, by time step Sampling From In the beginning, Within, the length of time during which all three geometric visibility conditions are continuously satisfied. If the link is in If it is not visible at all times, then If the link is It can be seen that... Is it until the first interruption or until End time.

[0156] In this embodiment, a quantitative calculation method for link duration is provided by comprehensively analyzing distance, Earth obstruction, and antenna pointing conditions. In principle, this calculation is based on satellite orbital elements and time, utilizing analytical solutions of orbital dynamics and geometric relationships to ensure the accuracy and predictability of the duration calculation. In terms of effectiveness, the technology in this embodiment can accurately predict link availability, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0157] In an exemplary embodiment, determining the shortest distance point to the Earth's center included in the target straight line includes: determining a third position vector of the first satellite in a geocentric inertial coordinate system, and determining a fourth position vector of the second satellite in a geocentric inertial coordinate system; determining a first difference vector between the fourth position vector and the third position vector; determining a second product of the third position vector and the first difference vector; determining the square of the magnitude of the first difference vector as a first value; determining the negative of a second ratio of the second product to the first value as a shortest distance parameter; and determining the shortest distance point based on the shortest distance parameter. In this embodiment, the first difference vector can be... Then any point on the target line can be represented as... The shortest distance parameter to the Earth's center. Once the shortest distance parameters are determined, the shortest distance point can be determined based on these parameters. Here, λ is a pre-defined universal parameter.

[0158] In this embodiment, a precise method for detecting Earth obstruction is provided by analytically calculating the shortest distance between satellites in the geocentric inertial coordinate system. In principle, this calculation is based on the analytical solution and geometric relationships of satellite position vectors, ensuring the accuracy and predictability of Earth obstruction detection. In terms of effectiveness, the technology in this embodiment can accurately determine whether a link is obstructed by Earth, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0159] In an exemplary embodiment, determining the shortest distance point based on the shortest distance parameter includes: determining that the shortest distance point is between the first satellite and the second satellite in response to the shortest distance parameter being greater than a first threshold and less than a second threshold; determining that the location of the first satellite is the shortest distance point in response to the shortest distance parameter being less than or equal to the first threshold; and determining that the location of the second satellite is the shortest distance point in response to the shortest distance parameter being greater than or equal to the second threshold. In this embodiment, the first threshold and the second threshold can be preset values. The first threshold can be 0, and the second threshold can be 1. Of course, the first threshold can also be 0.1, and the second threshold can also be 1.1. The above values ​​of the first threshold and the second threshold are only an exemplary illustration, and the present invention does not limit them. Then the shortest distance point can be determined to be between A and B, that is, between the first satellite and the second satellite. If Then the nearest point is A, meaning the first satellite is the point with the shortest distance from its location. If If the closest point is B, then the location of the second satellite is the shortest distance point.

[0160] In this embodiment, a precise algorithm for determining the shortest distance point is provided by analyzing the shortest distance parameters. In principle, this algorithm is based on the analytical solution and geometric relationships of the satellite position vector, ensuring the accuracy and predictability of the shortest distance point determination. In terms of effectiveness, the technology in this embodiment can accurately determine the Earth's occlusion status, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0161] In an exemplary embodiment, determining whether the target link is blocked by Earth based on the shortest distance point, and obtaining the blocking relationship, includes: in response to the shortest distance point being between the first satellite and the second satellite, determining the shortest distance from the shortest distance point to the Earth's center; and determining the blocking relationship based on the shortest distance. In this embodiment, when the shortest distance point is between the first satellite and the second satellite, the shortest distance from the shortest distance point to the Earth's center can be determined. The blocking relationship is determined based on the shortest distance.

[0162] In this embodiment, a precise method for determining Earth occlusion is provided by calculating the distance from the shortest distance point to the Earth's center. In principle, this determination is based on the analytical solution of the satellite position vector and the Earth's radius, ensuring the accuracy and predictability of the Earth occlusion assessment. In terms of effectiveness, the technology in this embodiment can accurately determine whether a link is blocked by the Earth, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0163] In an exemplary embodiment, determining the shortest distance from the shortest distance point to the Earth's center includes: determining a third product of the shortest distance parameter and a first difference vector, wherein the first difference vector is the difference between a third position vector and a fourth position vector, the third position vector being the vector of the first satellite in the geocentric inertial coordinate system, and the fourth position vector being the vector of the second satellite in the geocentric inertial coordinate system; determining a first sum of the third product and the third position vector; and determining the magnitude of the first sum as the shortest distance. In this embodiment, if The point with the shortest distance lies between A and B, and its distance to the Earth's center, i.e., the shortest distance, can be expressed as: ,in, The third position vector, This is the first difference vector. . This is the fourth position vector. This is the shortest distance parameter.

[0164] In this embodiment, an accurate method for determining Earth occlusion is provided by analytically calculating the distance from the shortest distance point to the Earth's center. In principle, this calculation is based on the analytical solution and geometric relationships of satellite position vectors, ensuring the accuracy and predictability of Earth occlusion determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether a link is blocked by Earth, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0165] In an exemplary embodiment, determining the occlusion relationship based on the shortest distance includes: determining that the target link is occluded by Earth in response to the shortest distance being less than a preset distance; and determining that the target link is not occluded by Earth in response to the shortest distance being greater than or equal to the preset distance. In this embodiment, the preset distance may be... .in, For the Earth's radius, This represents the distance between the satellite and the Earth's surface. If... (For example If the target link is in It is constantly obscured by the Earth. Otherwise, it is not obscured.

[0166] In this embodiment, a precise algorithm for determining Earth occlusion is provided by comparing the shortest distance with a preset distance. In principle, this algorithm is based on the analytical solution of the satellite position vector and the Earth's radius, ensuring the accuracy and predictability of Earth occlusion determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether a link is blocked by Earth, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0167] In an exemplary embodiment, determining whether the target link is blocked by Earth based on the shortest distance point, and obtaining the blocking relationship, includes: in response to the shortest distance point being the location of the first satellite, determining the magnitude of the third position vector as a first magnitude value, wherein the third position vector is the vector of the first satellite in the geocentric inertial coordinate system; in response to the first magnitude value being much greater than the Earth's radius, determining that the blocking relationship is not blocked by Earth; in response to the first magnitude value not being much greater than the Earth's radius, determining that the blocking relationship is blocked by Earth. In this embodiment, if If the nearest point is A, then check || That is, whether the first modulus value is much greater than (This always holds true because the satellite is in orbit). If the first modulus is much larger than the Earth's radius, the satellite is not blocked by Earth; otherwise, it is blocked by Earth.

[0168] In this embodiment, by analyzing the position vector of the first satellite in the geocentric inertial coordinate system, a precise method for determining Earth obstruction is provided. In principle, this determination is based on the analytical solution of the satellite's position vector and the Earth's radius, ensuring the accuracy and predictability of the Earth obstruction determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether a link is obstructed by the Earth, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0169] In an exemplary embodiment, determining whether the target link is blocked by Earth based on the shortest distance point, and obtaining the blocking relationship, includes: in response to the shortest distance point being the location of the second satellite, determining the magnitude of the fourth position vector as a second magnitude value, wherein the fourth position vector is the vector of the second satellite in the geocentric inertial coordinate system; in response to the second magnitude value being much larger than the Earth's radius, determining the blocking relationship as not blocked by Earth; in response to the second magnitude value not being much larger than the Earth's radius, determining the blocking relationship as blocked by Earth. In this embodiment, if The nearest point is B. Check || That is, whether the second modulus value is much greater than (Always true). If the second modulus value is much larger than the Earth's radius, then it is not blocked by the Earth; otherwise, it is blocked by the Earth.

[0170] In this embodiment, a precise method for determining Earth obstruction is provided by analyzing the position vector of the second satellite in the geocentric inertial coordinate system. In principle, this determination is based on the analytical solution of the satellite's position vector and the Earth's radius, ensuring the accuracy and predictability of the Earth obstruction assessment. In terms of effectiveness, the technology in this embodiment can accurately determine whether a link is obstructed by the Earth, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0171] In an exemplary embodiment, determining the pointing relationship between the antennas of the first satellite and the antennas of the second satellite includes: determining a first unit vector pointing from the first satellite to the second satellite, and determining a second unit vector pointing from the second satellite to the first satellite; determining a first maximum scan angle of the antenna of the first satellite, and determining a second maximum scan angle of the antenna of the second satellite; determining a first pointing relationship of the first satellite based on the first unit vector and the first maximum scan angle; determining a second pointing relationship of the second satellite based on the second unit vector and the second maximum scan angle; and determining the pointing relationship based on the first pointing relationship and the second pointing relationship. In this embodiment, the first unit vector and the second unit vector can be vectors in a geocentric inertial coordinate system. The first unit vector can be a unit vector pointing from the first satellite to the second satellite, and the second unit vector can be a unit vector pointing from the second satellite to the first satellite. The first unit vector can be represented as... .in, It can be the fourth position vector of the second satellite in the geocentric inertial reference frame. It can be the third position vector of the first satellite in the geocentric inertial reference frame. It can be The method for determining the second unit vector is the same as that for the first unit vector, and will not be repeated here. The first maximum scan angle and the second maximum scan angle can be predetermined angles. The first maximum scan angle and the second maximum scan angle are related to the type of antenna.

[0172] In this embodiment, the first pointing relationship can include the antenna of the first satellite pointing towards the antenna of the second satellite, and the antenna of the first satellite not pointing towards the antenna of the second satellite. The antenna of the first satellite pointing towards the antenna of the second satellite includes the antenna of the first satellite pointing within the second maximum scan angle of the second satellite; otherwise, it is not pointing. The second pointing relationship can include the antenna of the second satellite pointing towards the antenna of the first satellite, and the antenna of the second satellite not pointing towards the antenna of the first satellite. The antenna of the second satellite pointing towards the antenna of the first satellite includes the antenna of the second satellite pointing within the first maximum scan angle of the first satellite; otherwise, it is not pointing.

[0173] In this embodiment, an accurate method for determining antenna pointing relationships is provided by analytically calculating the antenna pointing vector and scanning angle. In principle, this calculation is based on the analytical solutions of the satellite's position and velocity vectors, as well as the antenna's physical characteristics, ensuring the accuracy and predictability of the pointing relationship determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether an antenna can point at another target, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0174] In an exemplary embodiment, determining the first pointing relationship of the first satellite based on the first unit vector and the first maximum scan angle includes: determining a first velocity vector of the first satellite in a geocentric inertial coordinate system; constructing a first orbital coordinate system of the first satellite based on the first velocity vector; determining a first rotation matrix based on the first orbital coordinate system; transforming the first unit vector into the first orbital coordinate system based on the first rotation matrix to obtain a first vector; determining a first nominal vector pre-set for the antenna of the first satellite; and determining the first pointing relationship based on the first vector, the first nominal vector, and the first maximum scan angle. In this embodiment, the first ECI velocity vector of the first satellite can be determined. The first velocity vector can be derived from the velocity vector in the orbital coordinate system. The conversion yields, where, (This is the semi-path), μ is the Earth's standard gravitational constant (GMEarth), p AThe semi-latusrectum of orbit A of the first satellite, e A The eccentricity of orbit A of satellite A, f A True anomaly of orbit A of satellite 1.

[0175] In this embodiment, the orbital coordinate system can be a VVLH (Velocity-Vector, Local-Horizontal) coordinate system or a constellation coordinate system. A first orbital coordinate system for the first satellite A can be constructed, such as a VVLH (Velocity-Vector, Local-Horizontal) coordinate system or a star coordinate system. Taking VVLH as an example, (Radial, pointing towards the Earth's center) (Direction of orbital angular momentum). (The orbital normal is usually defined as being opposite to the angular momentum.) (Approximate velocity direction / along the orbital direction), then the first rotation matrix can be represented as .

[0176] In this embodiment, the first unit vector can be transformed to the VVLH coordinate system of satellite A to obtain the first vector. Let the nominal orientation of the antenna of the first satellite A in its VVLH (or celestial) coordinate system be, i.e., the first nominal vector is... (For example, for inter-plane links, it might be along the orbit normal) For in-plane links, it may be along the orbital direction. The first nominal vector can be the nominal pointing vector of the antenna in its celestial coordinate system (i.e., the satellite's own coordinate system). It refers to the ideal pointing direction of the antenna's main beam center axis in the satellite's own coordinate system under the antenna's design or mission requirements, and can be represented by a unit vector. The first maximum scan angle of the antenna of the first satellite is... .

[0177] In this embodiment, the first pointing relationship can be determined based on the first vector, the first nominal vector, and the first maximum scanning angle. The first pointing relationship may include the antenna of the first satellite pointing to the antenna of the second satellite, or the antenna of the first satellite not pointing to the antenna of the second satellite.

[0178] In this embodiment, an accurate method for determining antenna pointing relationships is provided by analytically calculating the representation of the antenna pointing vector in the satellite's coordinate system. In principle, this calculation is based on the analytical solution of the satellite's velocity vector and the physical constraints of antenna pointing, ensuring the accuracy and predictability of the pointing relationship determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether an antenna can point at another target, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0179] In an exemplary embodiment, determining the first pointing relationship based on the first vector, the first nominal vector, and the first maximum scan angle includes: determining a fourth product of the first vector and the first nominal vector; determining a first cosine value of the fourth product; determining a first semi-major axis of the orbit of the first satellite; determining a fifth product of the first cosine value and the first semi-major axis; determining the first pointing relationship as the antenna of the first satellite points to the antenna of the second satellite in response to the fifth product being less than or equal to the first maximum scan angle; and determining the first pointing relationship as the antenna of the first satellite does not point to the antenna of the second satellite in response to the fifth product being greater than the first maximum scan angle. In this embodiment, the pointing constraint can be expressed as... Where 'a' can be the first semi-major axis, i.e., the semi-major axis of the orbit of the first satellite. When the constraint conditions are met, the first pointing relationship can be determined to be that the antenna of the first satellite points to the antenna of the second satellite. When the constraint conditions are not met, the first pointing relationship can be determined to be that the antenna of the first satellite does not point to the antenna of the second satellite.

[0180] In this embodiment, an accurate method for determining antenna pointing relationships is provided by analytically calculating the angle between the antenna pointing vector and the nominal vector. In principle, this calculation is based on the analytical solutions of the antenna pointing vector and the nominal vector, as well as the physical constraint of the antenna's maximum scan angle, ensuring the accuracy and predictability of the pointing relationship determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether an antenna can point at another target, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0181] In an exemplary embodiment, determining the second pointing relationship of the second satellite based on the second unit vector and the second maximum scan angle includes: determining the second velocity vector of the second satellite in a geocentric inertial coordinate system; constructing a second orbital coordinate system of the second satellite based on the second velocity vector; determining a second rotation matrix based on the second orbital coordinate system; transforming the second unit vector into the second orbital coordinate system based on the second rotation matrix to obtain a second vector; determining a second nominal vector pre-set for the antenna of the second satellite; and determining the second pointing relationship based on the second vector, the second nominal vector, and the second maximum scan angle. In this embodiment, the ECI second velocity vector of the second satellite can be determined. The second velocity vector can be derived from the velocity vector in the orbital coordinate system. The conversion yields, where, (This is the semi-path), μ is the Earth's standard gravitational constant (GMEarth), p B The semi-latusrectum of orbit B of the second satellite, e B The eccentricity of orbit B of the second satellite, f B True Anomaly of orbit B of satellite 2.

[0182] In this embodiment, the orbital coordinate system can be a VVLH (Velocity-Vector, Local-Horizontal) coordinate system or a constellation coordinate system. A second orbital coordinate system can be constructed for the second satellite B, such as a VVLH (Velocity-Vector, Local-Horizontal) coordinate system or a star coordinate system. Taking VVLH as an example, (Radial, pointing towards the Earth's center) (Direction of orbital angular momentum). (The orbital normal is usually defined as being opposite to the angular momentum.) (Approximate velocity direction / along the orbital direction), then the second rotation matrix can be expressed as: .

[0183] In this embodiment, the second unit vector can be transformed to the VVLH coordinate system of satellite B to obtain the second vector. Let the nominal orientation of the antenna of the second satellite B in its VVLH (or satellite) coordinate system be, i.e., the second nominal vector is... (For example, for inter-plane links, it might be along the orbit normal) For in-plane links, it may be along the orbital direction. The second nominal vector can be the nominal pointing vector of the antenna in its celestial coordinate system (i.e., the satellite's own coordinate system). It refers to the ideal pointing direction of the antenna's main beam center axis in the satellite's own coordinate system under the antenna's design or mission requirements, and can be represented by a unit vector. The second maximum scan angle of the second satellite's antenna is... .

[0184] In this embodiment, the second pointing relationship can be determined based on the second vector, the second nominal vector, and the second maximum scan angle. The second pointing relationship may include the antenna of the second satellite pointing to the antenna of the first satellite, or the antenna of the second satellite not pointing to the antenna of the first satellite.

[0185] In this embodiment, an accurate method for determining antenna pointing relationships is provided by analytically calculating the representation of the antenna pointing vector in the satellite's coordinate system. In principle, this calculation is based on the analytical solution of the satellite's velocity vector and the physical constraints of antenna pointing, ensuring the accuracy and predictability of the pointing relationship determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether an antenna can point at another target, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0186] In an exemplary embodiment, determining the second pointing relationship based on the second vector, the second nominal vector, and the second maximum scan angle includes: determining a sixth product of the second vector and the second nominal vector; determining a second cosine value of the sixth product; determining a second semi-major axis of the orbit of the second satellite; determining a seventh product of the second cosine value and the second semi-major axis; in response to the seventh product being less than or equal to the second maximum scan angle, determining the second pointing relationship as the antenna of the second satellite pointing towards the antenna of the first satellite; in response to the seventh product being greater than the second maximum scan angle, determining the second pointing relationship as the antenna of the second satellite not pointing towards the antenna of the first satellite. In this embodiment, the pointing constraint can be expressed as... Where 'a' can be the second semi-major axis, i.e., the semi-major axis of the second satellite's orbit. When the constraints are met, the second pointing relationship can be determined to be that the antenna of the second satellite points to the antenna of the first satellite; when the constraints are not met, the second pointing relationship can be determined to be that the antenna of the second satellite does not point to the antenna of the first satellite.

[0187] In this embodiment, an accurate method for determining antenna pointing relationships is provided by analytically calculating the angle between the antenna pointing vector and the nominal vector. In principle, this calculation is based on the analytical solutions of the antenna pointing vector and the nominal vector, as well as the physical constraint of the antenna's maximum scan angle, ensuring the accuracy and predictability of the pointing relationship determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether an antenna can point at another target, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0188] In an exemplary embodiment, determining the pointing relationship based on the first pointing relationship and the second pointing relationship includes: in response to the first pointing relationship being that the antenna of the first satellite points to the antenna of the second satellite, and the second pointing relationship being that the antenna of the second satellite points to the antenna of the first satellite, determining that the pointing relationship is that the antennas of the first satellite and the antennas of the second satellite point to each other; in response to the first pointing relationship being that the antenna of the first satellite does not point to the antenna of the second satellite, and / or the second pointing relationship being that the antenna of the second satellite points to the antenna of the first satellite, determining that the pointing relationship is that the antennas of the first satellite and the antennas of the second satellite do not point to each other. In this embodiment, when the antenna of the first satellite points to the antenna of the second satellite within the maximum scanning angle range, and the antenna of the second satellite points to the antenna of the first satellite within the maximum scanning angle range, the pointing relationship is determined to be mutually pointing; otherwise, the pointing relationship is determined to be non-mutual pointing.

[0189] In this embodiment, a precise method for determining link availability is provided by comprehensively analyzing the antenna pointing relationship between the first and second satellites. In principle, this determination is based on the analytical solutions of the antenna pointing vector and the nominal vector, as well as the physical constraint of the antenna's maximum scan angle, ensuring the accuracy and predictability of the link availability determination. In terms of effectiveness, the technology in this embodiment can accurately determine whether a link is available, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0190] In an exemplary embodiment, determining the link quality of the target link includes: determining the signal-to-noise ratio (SNR) of the target link at predetermined time intervals; and determining a first average value of the SNR as the link quality. In this embodiment, at each sampling point that satisfies the visibility condition... (exist (Internal): The signal-to-noise ratio of the target link can be expressed as... ,in, Transmission power. Transmit antenna gain It is the off-axis angle of satellite A antenna (the angle between the actual pointing direction and the antenna boresight, determined by...). and (Calculated). Receive antenna gain It is the off-axis angle of satellite B antenna. Signal wavelength ( ). Other losses (atmospheric losses, pointing losses, etc., which can be simplified to 1 or a constant here). Boltzmann constant. System noise temperature. Noise bandwidth. Link quality. It can be exist The average value within the range.

[0191] In this embodiment, it is also possible to exist The average value within the range is normalized, and the normalized value is determined as the link quality. If ,but .

[0192] In this embodiment, a method for quantifying link quality is provided by analytically calculating the average signal-to-noise ratio. In principle, this calculation is based on an analytical model of transmit power, antenna gain, signal wavelength, system noise temperature, and noise bandwidth, ensuring the accuracy and predictability of the link quality calculation. In terms of effectiveness, the technique in this embodiment can accurately assess the transmission quality of the link, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0193] In an exemplary embodiment, determining the link quality of the target link includes: determining a third distance between the first satellite and the second satellite at predetermined time intervals; determining a second average value of the square of the third distance; and determining the second average value as the link quality. In this embodiment, link quality... , indicating that during the predicted duration T duration Within the range, this is the average of the squares of the distances between satellites. Because the path loss of a signal is proportional to the square of the distance, this value can be used as a representative of the average path loss, and its reciprocal can be used to represent the average link quality.

[0194] In this embodiment, a method for quantifying link quality is provided by analytically calculating the average of the squared distances between satellites. In principle, this calculation is based on the analytical solution of satellite position vectors, ensuring the accuracy and predictability of link quality calculations. In terms of effectiveness, the technique in this embodiment can accurately assess link transmission quality, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0195] In one exemplary embodiment, determining the energy cost of the target link includes: determining the target energy required to transmit a data unit through the target link; and determining the target energy as the energy cost. In this embodiment, the target energy may be the energy required for the target link to transmit one data unit.

[0196] In this embodiment, a method for quantifying energy costs is provided by analytically calculating the energy required to transmit data units. In principle, this calculation is based on a free-space path loss model and link quality requirements, ensuring the accuracy and predictability of energy cost calculations. In terms of effectiveness, the technology in this embodiment can accurately assess the energy consumption of links, providing crucial information for path selection, thereby optimizing the use of network resources.

[0197] In an exemplary embodiment, determining the target energy required to transmit data units via the target link includes: determining the square of a third distance between the first satellite and the second satellite; and determining the target energy as the product of an energy weighting factor and the squared value. In this embodiment, the free space path loss (FSPL) is: ,in, It's the carrier frequency. To achieve the target signal-to-noise ratio... Required transmission power . Assuming DataUnitSiz and DataRate are constants for comparison, then . ,in It is a normalized energy weighting factor.

[0198] In this embodiment, a method for quantifying energy costs is provided by analytically calculating the squared value of the inter-satellite distance and combining it with an energy weighting factor. In principle, this calculation is based on a free-space path loss model and link quality requirements, ensuring the accuracy and predictability of energy cost calculation. In terms of effectiveness, the technology in this embodiment can accurately assess the energy consumption of links, providing crucial information for path selection, thereby optimizing the use of network resources.

[0199] In an exemplary embodiment, determining the gap penalty term for the target link includes: determining a first velocity vector of the first satellite and a second velocity vector of the second satellite; and determining the gap penalty term based on the first velocity vector and the second velocity vector. In this embodiment, the first and second satellites may be satellites in the Walker constellation, and the Walker constellation parameters may include: (Total number of satellites) (Number of orbital planes) (Number of satellites per plane) (phase factor) (Track inclination). Track plane. ( The right ascension (RAAN) of the ascending node: For a typical Prograde Walker constellation ( The gaps mainly occur near the RAAN. and Between planes, i.e., planes and plane Between. Assume satellite A is in the plane. (index Satellite B is in the plane. (index ).if or Then the link It is assumed that the satellite crosses the main gap. Therefore, the first velocity vector of the first satellite and the second velocity vector of the second satellite can be determined. The gap penalty term is then determined based on the first and second velocity vectors. The first and second velocity vectors can be vectors in a geocentric inertial coordinate system.

[0200] In this embodiment, a method for quantifying the gap penalty term is provided by analytically calculating the satellite velocity vector. In principle, this calculation is based on the analytical solution of the satellite velocity vector and the geometric characteristics of the constellation gaps, ensuring the accuracy and predictability of the gap penalty term calculation. In terms of effectiveness, the technique in this embodiment can accurately assess the cost of link traversing gaps, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0201] In an exemplary embodiment, determining the gap penalty term based on the first velocity vector and the second velocity vector includes: in response to the plane where the first satellite is located and the plane where the second satellite is located satisfying a first preset condition, determining a third velocity vector of the first satellite relative to the geocentric-ground-fixed coordinate system based on the first velocity vector, and determining a fourth velocity vector of the second satellite relative to the geocentric-ground-fixed coordinate system based on the second velocity vector; determining the gap penalty term as the product of the magnitude of the difference between the fourth velocity vector and the third velocity vector and a weighting constant; and in response to the plane where the first satellite is located and the plane where the second satellite is located not satisfying the first preset condition, determining a first constant as the gap penalty term. In this embodiment, when satellite A is in plane... (index Satellite B is in the plane. (index If or If the plane containing the first satellite and the plane containing the second satellite satisfy the first preset condition, then it is assumed that they meet the first preset condition.

[0202] In this embodiment, the ECI velocity vectors of the first satellite A and the first satellite B can be obtained. (First velocity vector) and (Second velocity vector). Determine the Earth's rotational angular velocity vector. ,in, The velocity of satellite A relative to the ECRF (Earth-Centered Rotating Frame): Third velocity vector Similarly, calculate the fourth velocity vector. The magnitude of the relative velocity across the gap, i.e., the magnitude of the difference between the fourth velocity vector and the third velocity vector, is... The gap penalty term can then be expressed as: .in, It is a weighting constant.

[0203] In this embodiment, a quantitative calculation method for the gap penalty term is provided by analytically calculating the satellite's velocity vector relative to the geocentric Earth-fixed coordinate system and analyzing the relative positions between satellite planes. In principle, this calculation is based on the analytical solution of the satellite velocity vector and the geometric characteristics of the constellation gaps, ensuring the accuracy and predictability of the gap penalty term calculation. In terms of effectiveness, the technology in this embodiment can accurately assess the cost of link traversing gaps, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0204] In an exemplary embodiment, determining the polar penalty term of the target link includes: determining a third position vector of the first satellite in a geocentric inertial coordinate system, and determining a fourth position vector of the second satellite in a geocentric inertial coordinate system; determining a first geocentric latitude of the first satellite based on the third position vector, and determining a second geocentric latitude of the second satellite based on the fourth position vector; and determining the polar penalty term based on the first geocentric latitude and the second geocentric latitude. In this embodiment, if the first satellite A or the second satellite B, or the target link path itself, is located within a defined polar latitude threshold, the polar penalty term can be determined. This can be based on the ECI position vector. Calculate geocentric latitude When calculating the first geocentric latitude, the position vector is the third position vector of the first satellite in the geocentric inertial coordinate system. When calculating the second geocentric latitude, the position vector is the fourth position vector of the second satellite in the geocentric inertial coordinate system. The location of the first satellite in a polar region can be determined based on the first geocentric latitude, and the location of the second satellite in a polar region can be determined based on the second geocentric latitude. If the first satellite is in a polar region and / or the second satellite is in a polar region, a polar region penalty term is determined based on the first and second geocentric latitudes. If neither the first nor the second satellite is in a polar region, the polar region penalty term is determined to be 0.

[0205] In this embodiment, a method for quantifying the polar penalty term is provided by analytically calculating the satellite's position vector in the geocentric inertial coordinate system. In principle, this calculation is based on the analytical solution of the satellite's position vector and the definition of polar regions, ensuring the accuracy and predictability of the polar penalty term calculation. In terms of effectiveness, the technique in this embodiment can accurately assess the cost of link traversing polar regions, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0206] In an exemplary embodiment, determining the polar region penalty term based on the first geocentric latitude and the second geocentric latitude includes: determining a second constant as the polar region penalty term in response to the first geocentric latitude and the second geocentric latitude satisfying a second preset condition; and determining a third constant as the polar region penalty term in response to the first geocentric latitude and the second geocentric latitude not satisfying the second preset condition; wherein the second preset condition includes a first absolute value of the first geocentric latitude being greater than a first preset angle, or a second absolute value of the second geocentric latitude being greater than the first preset angle, and the second constant being different from the third constant. In this embodiment, the second preset condition may be... or (wherein, the first preset angle can be) (Note: This value is merely an illustrative example; it could also be 65°, 75°, etc., which are not limited in this invention.) When the second preset condition is met, the target link endpoint can be considered to be located in the polar region. The polar region penalty term can then be set to a second constant. When the preset condition is not met, the polar region penalty term can be set to a third constant. The second constant can be 1, and the third constant can be 0. This invention does not limit this.

[0207] This embodiment provides a quantitative calculation method for polar region penalty terms by analyzing the geocentric latitude of satellites. In principle, this calculation is based on the analytical solution of the satellite position vector and the definition of polar regions, ensuring the accuracy and predictability of the polar region penalty term calculation. In terms of effectiveness, the technology in this embodiment can accurately assess the cost of link traversing polar regions, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0208] In an exemplary embodiment, determining the polar region penalty term based on the first geocentric latitude and the second geocentric latitude includes: responding to the first geocentric latitude and the second geocentric latitude satisfying a second preset condition, wherein the second preset condition includes a first absolute value of the first geocentric latitude being greater than a first preset angle, or a second absolute value of the second geocentric latitude being greater than the first preset angle; determining a second difference between the first absolute value and the first preset angle; determining a third difference between the second preset angle and the first preset angle; determining a third ratio between the second difference and the third difference; determining a first maximum value among the third ratio and a preset constant; determining a fourth difference between the second absolute value and the first preset angle; determining a fourth ratio between the fourth difference and the third difference; determining a second maximum value among the fourth ratio and the preset constant; determining a ninth product of the first maximum value and a preset penalty value, and determining a tenth product of the second maximum value and the preset penalty value; and determining a second sum of the ninth product and the tenth product as the polar region penalty term. In this embodiment, the polar region penalty term can also be represented as... .in, It is a constant penalty value. It can be further refined into a function of dimensions, for example... .

[0209] The first preset angle is The second preset angle can be 90°. The preset constant can be 0. It should be noted that the above values ​​and angles are merely illustrative examples, and the present invention does not limit them.

[0210] This embodiment provides a quantitative calculation method for polar region penalty terms by analyzing the relationship between the satellite's geocentric latitude and the definition of polar regions. In principle, this calculation is based on the analytical solution of the satellite's position vector and the definition of polar regions, ensuring the accuracy and predictability of the polar region penalty term calculation. In terms of effectiveness, the technology in this embodiment can accurately assess the cost of link traversing polar regions, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0211] In an exemplary embodiment, determining the link cost based on the target cost includes: determining a cost weight for the target cost; and determining the link cost as the product of the target cost and the cost weight. In this embodiment, the link cost can be determined as the product of the target cost and the cost weight. For example, when the target cost includes latency cost, stability cost, energy cost, gap penalty term, and polar region penalty term, the link cost can be expressed as... .

[0212] in, Indicates the current moment. This indicates a shorter prediction time window (e.g., a few seconds to a minute). This represents the weighting factor, which can be configured based on Quality of Service (QoS) priorities. Usually refers to In the prediction section, it refers to .

[0213] In this embodiment, in C link In the cost function, the weighting factors w of each component i It can be dynamically adjusted by a central network management system, or even by a single satellite based on the type of service it carries or the perceived network congestion (although the congestion awareness mechanism itself is not within the scope of this core routing invention). For example, for real-time services such as voice, the weight w1 of latency cost can be set very high; for best-effort data transmission, the weight w2 of stability cost may be given priority.

[0214] This embodiment provides a quantitative calculation method for link costs by introducing cost weights. In principle, this calculation is based on the analytical solution of the target cost and weighting factors, ensuring the accuracy and predictability of link cost calculation. In terms of effectiveness, the technology in this embodiment can flexibly adjust the calculation of link costs according to different Quality of Service (QoS) requirements, providing crucial information for path selection and thus optimizing the use of network resources.

[0215] In an exemplary embodiment, determining the remaining cost from each of the second satellites to the target satellite includes: determining the great circle distance between the second satellite and the target satellite; determining the transmission cost of transmitting data through the target link; and determining the remaining cost based on the great circle distance and the transmission cost. In this embodiment, the source satellite S wishes to transmit data to the target satellite D. Therefore, satellite S can calculate its distance to each neighboring node N. It forwards the data packet (or path request probe packet) to neighbor N, which makes neighbor N such that minimize. It is an analytical heuristic function. For the Walker constellation, this can be calculated based on the great circle distance to obtain the remaining cost.

[0216] In this embodiment, the ECI position vectors of the second satellite N and the target satellite D can be calculated. and Convert to geocentric latitude and longitude Longitude can be obtained through... Latitude can be calculated through... Calculation. Calculate the angular distance based on latitude and longitude. And determine the orbital radius. (Assuming the same orbital altitude). Then the great circle distance can be expressed as... .

[0217] In this embodiment, the average path cost per power of the target link can be determined, and the average path cost per power is determined as the transmission cost.

[0218] This embodiment provides a quantitative calculation method for residual costs by comprehensively analyzing great circle distance and transmission costs. In principle, this calculation is based on the analytical solution of satellite position vectors and a geographic distance model, as well as a physical model of transmission costs, ensuring the accuracy and predictability of the residual cost calculation. In terms of effectiveness, the technology in this embodiment can accurately assess the path cost from the second satellite to the target satellite, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0219] In an exemplary embodiment, determining the remaining cost based on the great circle distance and the transmission cost includes: determining the remaining cost by multiplying the great circle distance and the transmission cost. In this embodiment, the remaining cost can be expressed as... ,in This is an estimate of the average cost per kilometer of path, i.e., the transmission cost. The average delay cost within the current period can be used to determine the transmission cost.

[0220] This embodiment provides a method for quantifying residual costs by analytically calculating the relative positions of satellites within a constellation grid. In principle, this calculation is based on the logical indexes of satellites within the constellation and the constellation topology, ensuring the accuracy and predictability of the residual cost calculation. In terms of effectiveness, the technology in this embodiment can accurately assess the path cost from the second satellite to the target satellite, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0221] In an exemplary embodiment, determining the remaining cost from each of the second satellites to the target satellite includes: determining a first plane index of the second satellite and a second plane index of the target satellite; determining a minimum cross-plane hop count based on the first plane index, the second plane index, and the total number of orbital planes in the target constellation, wherein the target constellation includes the second satellite and the target satellite; determining the number of in-plane hops of the first plane index after the minimum cross-plane hop count; and determining the remaining cost based on the minimum cross-plane hop count and the number of in-plane hops. In this embodiment, the logical indices of the second satellite N and the target satellite D can be determined. and The shortest number of jumps across a surface can be expressed as: Where P is the total number of orbital planes. The number of jumps within the plane is also estimated. When from a plane Jump to adjacent plane At that time, due to the phase factor The satellite's relative index within the target plane will change. From the plane arrive (Model P), the satellite's "equivalent" in-plane index will advance (or regress, depending on) (and the definition of constellations) approximately One location. Passing through. After the second cross-plane jump, reach the target plane. At that time, the equivalent in-plane index of N There will be a cumulative offset relative to its index in the original plane. .

[0222] in, Depending on the direction of the cross-plane jump (e.g., RAAN increases or decreases, typically by +1 or -1), the number of jumps within a plane can be expressed as... .

[0223] This embodiment provides a quantitative calculation method for residual costs by analytically calculating the costs of cross-plane and in-plane hop counts. In principle, this calculation is based on the logical index of satellites within the constellation and the constellation topology, as well as a physical model of link costs, ensuring the accuracy and predictability of the residual cost calculation. In terms of effectiveness, the technology in this embodiment can accurately assess the path cost from the second satellite to the target satellite, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0224] In an exemplary embodiment, determining the remaining cost based on the shortest cross-plane hop count and the intra-plane hop count includes: determining the cross-plane link cost and the intra-plane link cost; determining the eleventh product of the cross-plane link cost and the shortest cross-plane hop count; determining the twelfth product of the intra-plane link cost and the intra-plane hop count; and determining the sum of the eleventh product and the twelfth product as the remaining cost. In this embodiment, the remaining cost can be expressed as... ,in and These are the estimated average cross-plane link cost and the average intra-plane link cost (which can be based on historical data or simplified versions). These values ​​can be determined in the following ways: 1) during system initialization, by calculating the statistical average value through offline analysis of link samples from the constellation over multiple orbital periods; or 2) as network operation parameters, configured and distributed by the ground management center according to network performance objectives. To enhance adaptability, these values ​​can also be slowly varying functions, for example, correlated with the average latitude of the satellites, to reflect the general increase in polar link costs.

[0225] In this embodiment, each satellite can make local decisions based on its outgoing link's PACMeP (Predictive Analytical Cost Metric Path Selection) cost and the analytically estimated cost to the target. Necessary (potentially summary) link state information can also be collected by a central controller (or by the source satellite itself if it has sufficient computing power), and end-to-end paths can be calculated using algorithms such as Dijkstra's or Yen's K-shortest path, using the C defined above. link As link weight.

[0226] This embodiment provides a quantitative method for intermediate satellite selection by comprehensively analyzing link cost and residual cost. In principle, this method is based on analytical solutions for link cost and residual cost, ensuring the accuracy and predictability of intermediate satellite selection. In terms of effectiveness, the technology in this embodiment can accurately select the optimal intermediate satellite, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0227] In one exemplary embodiment, determining an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost includes: determining a third sum of the link cost and the remaining cost for each second satellite; and determining the satellite corresponding to the smallest sum included in the third sum as the intermediate satellite. In this embodiment, the minimum value of the sum of the link cost and the remaining cost can be determined, and the satellite corresponding to the minimum value can be determined as the intermediate satellite.

[0228] This embodiment provides a quantitative method for intermediate satellite selection by comprehensively analyzing link cost and residual cost. In principle, this method is based on analytical solutions for link cost and residual cost, ensuring the accuracy and predictability of intermediate satellite selection. In terms of effectiveness, the technology in this embodiment can accurately select the optimal intermediate satellite, providing crucial information for path selection, thereby improving the reliability and efficiency of data transmission.

[0229] In one exemplary embodiment, after determining an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost, the method further includes: updating the first satellite as the intermediate satellite; and updating the second satellites as neighboring satellites of the intermediate satellite. In this embodiment, after determining the intermediate satellite, the intermediate satellite can be designated as the first satellite, and the neighboring satellites of the intermediate satellite can be designated as second satellites, until the second satellite is the target satellite.

[0230] In one exemplary embodiment, after determining an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost, the method further includes: in the event of a failure of the intermediate satellite, determining a replacement satellite from other satellites included in the plurality of second satellites, wherein the other satellites are satellites other than the intermediate satellite; and controlling the replacement satellite to replace the intermediate satellite. In this embodiment, if the ISL selected for the next hop is unavailable (e.g., due to an unexpected failure, or an overly optimistic predicted duration), the satellite can recalculate the PACMeP cost of other available links for the satellite and reroute. It is derived analytically and relies on predictable orbital mechanics; many "failures" (such as links going out of range) have been addressed by... The concept is inherently predicted. A genuine, unexpected hardware failure will trigger a recalculation of the reactive algorithm.

[0231] This embodiment provides a quantitative method for fault handling and path recovery by analyzing constellation topology and link status. In principle, this method is based on analytical solutions for link cost and residual cost, as well as constellation topology, ensuring the accuracy and predictability of fault handling and path recovery. In terms of effectiveness, the technology in this embodiment can effectively handle link failures and achieve rapid path recovery by selecting alternative satellites, thereby improving the reliability and efficiency of data transmission.

[0232] The method for determining the routing path will be explained below with reference to specific implementation methods.

[0233] Figure 2 This is a flowchart of a method for determining a routing path according to a specific embodiment of the present invention, as shown below. Figure 2 As shown, the process includes:

[0234] Step S302: The data packet arrives, a path request is made, and the routing path from the source satellite (S) to the target satellite (D) is determined.

[0235] Step S304: For each satellite, determine the link cost C_link from that satellite to its neighboring satellites.

[0236] Step S306: For each satellite, determine the remaining cost from that satellite to the target satellite. .

[0237] Step S308: Determine the minimum sum of link cost and residual cost, i.e., TotalCost(N) = C_link(S, N, t_curr, dt_horiz) + The minimum value is used to determine the satellite N* corresponding to the minimum value as the intermediate satellite.

[0238] Step S310: Forward the data packet to N*.

[0239] Step S312, next hop processing (repeat the above process S302-S310 for N*).

[0240] In the foregoing embodiments, The overall integrity and predictability of the function are not considered from a single factor, but rather from a weighted combination of multiple analytically derived, forward-looking components. This distinguishes it from simple shortest path algorithms, reactive scoring mechanisms, or single-factor analytical models. Explicitly... and Constructing analytical functions based on orbital geometry is a direct and quantifiable approach to addressing the known challenges of the Walker constellation, potentially more integrated and effective than virtual node abstraction. The distributed PACMeP variant leverages the predictability of the Walker constellation. Each satellite can compute the necessary information locally or acquire it with minimal exchange, thus achieving scalability. Heuristic functions that can be analytically derived from Walker topology (e.g., based on the remaining average intra / inter-plane hop count) are crucial for efficiently guiding packets without global state. This avoids the overhead of end-to-end state protocols. Weighting factors It provides operational flexibility, allowing network operators to adjust routing behavior according to different performance requirements (e.g., low latency for real-time services versus high stability for bulk data transmission) without changing the core resolution engine, thereby enhancing the practical value of the algorithm.

[0241] The PACMeP solution proposed in this application has the following significant technical advantages and beneficial technical effects:

[0242] Improved path optimization and QoS guarantee capabilities: PACMeP's composite link cost By comprehensively considering latency, predicted link stability, energy consumption, and penalties for gaps / polar regions, the actual path cost is reflected more accurately. This allows the selected path to better match desired QoS requirements (e.g., achieving lower actual end-to-end latency and less packet loss due to link instability). Specifically, the analytical prediction of link stability (…) This represents a significant improvement over the reactive method.

[0243] Enhanced adaptability and robustness in Walker constellation-specific scenarios (gap, polar region): by integrating specific analytical penalty functions for gaps and polar regions into In the analytical derivation of the gap penalty and polar punishment This enables the algorithm to make intelligent routing decisions in these challenging areas, making informed trade-offs rather than simply avoiding or inefficiently traversing them. This improves the overall throughput and reliability of the network.

[0244] Reduced computational overhead and improved scalability: through a deterministic, on-board computeable cost function and analytical... The heuristic function allows the distributed PACMeP to rely on local computation based on predictable orbital mechanics and an analytical heuristic for "estimating residual costs" for the Walker topology. This reduces the need for global topology information distribution, thereby lowering control plane overhead and providing better scalability for mega-constellations. Its analytical nature avoids the computational burden of iterative AI models.

[0245] Predictability and verifiability of determinism: As a purely analytical and deterministic algorithm, PACMeP's behavior is predictable and verifiable, and it is easier to debug and authenticate for critical communication services. Path selection can be mathematically traced.

[0246] More granular and precise path selection: PACMeP considers a wider range of cost factors, going beyond distance models based solely on phase (including delay, stability, energy, and slot / polar region penalties). This enables more granular path selection under heterogeneous link conditions or when non-distance factors are critical. Furthermore, in Predicted stability within a time window is a more direct measure of link robustness.

[0247] A comparative analysis of the methods in this application and related technologies can be found in Table 2.

[0248] Table 2

[0249]

[0250] 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 this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. 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 this application.

[0251] 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 this application, 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 read-only memory (ROM) / random access memory (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 this application.

[0252] According to another aspect of the embodiments of this application, a routing path determination apparatus is also provided. This routing path determination apparatus can be used to implement the routing path determination method provided in the above embodiments, and details already described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0253] Figure 3 This is a structural block diagram of an optional routing path determination device according to an embodiment of this application, such as... Figure 3 As shown, the device for determining the route path includes:

[0254] The first determining module 42 is used to determine the link cost of a target link, wherein the target link includes links between a first satellite and each of the second satellites, the first satellites and the second satellites being adjacent, and the link cost is used to indicate the cost of transmitting data through the target link.

[0255] The second determining module 44 is used to determine the remaining cost from each of the second satellites to the target satellite, wherein the target satellite is the destination satellite for receiving data.

[0256] The third determining module 46 is used to determine the intermediate satellite from the plurality of second satellites based on the link cost and the remaining cost.

[0257] The fourth determining module 48 is used to determine the routing path from the source satellite to the target satellite based on the intermediate satellite, wherein the source satellite is the satellite that sends data to the target satellite.

[0258] It should be noted that the first determining module 42 in this embodiment can be used to execute the above step S102, the second determining module 44 in this embodiment can be used to execute the above step S104, the third determining module 46 in this embodiment can be used to execute the above step S106, and the fourth determining module 48 in this embodiment can be used to execute the above step S108.

[0259] The device for determining the routing path can be located in the processor, such as in the central controller, which can be deployed in the source satellite or can be a standalone control device.

[0260] In an exemplary embodiment, the first determining module 42 may determine the link cost of the target link in the following manner: determining the target cost of the target link, wherein determining the target cost of the target link includes at least one of the following: determining the delay cost of the target link, determining the stability cost of the target link, determining the energy cost of the target link, determining the gap penalty term of the target link, determining the polar region penalty term of the target link; and determining the link cost based on the target cost.

[0261] In an exemplary embodiment, the first determining module 42 may determine the delay cost of the target link by: determining a first true anomaly angle of the first satellite and a second true anomaly angle of the second satellite; determining a first distance from the first satellite to the Earth's center and a second distance from the second satellite to the Earth's center; determining a first position vector of the first satellite in the orbital coordinate system based on the first true anomaly angle and the first distance, and determining a second position vector of the second satellite in the orbital coordinate system based on the second true anomaly angle and the second distance; transforming the first position vector to the geocentric inertial coordinate system to obtain a third position vector, and transforming the second position vector to the geocentric inertial coordinate system to obtain a fourth position vector; and determining the delay cost based on the third position vector and the fourth position vector.

[0262] In an exemplary embodiment, the first determining module 42 may determine the delay cost based on the third position vector and the fourth position vector by: determining a first difference vector between the fourth position vector and the third position vector; determining the magnitude of the first difference vector to obtain a first magnitude value; and determining the first ratio of the first magnitude value to the speed of light as the delay cost.

[0263] In an exemplary embodiment, the first determining module 42 may determine the stability cost of the target link by: determining the duration of the target link; determining the link quality of the target link; and determining the stability cost based on the duration and the link quality.

[0264] In an exemplary embodiment, the first determining module 42 may determine the stability cost based on the duration and the link quality by: determining a first product of the duration and the link quality; and determining the reciprocal of the first product as the stability cost.

[0265] In an exemplary embodiment, the first determining module 42 may determine the duration of the target link by: determining the relative distance between the first satellite and the second satellite; determining the distance relationship between the relative distance and the maximum communication distance of the inter-satellite link; determining the shortest distance point to the Earth's center included in the target straight line, wherein the target straight line is the straight line formed by the first satellite and the second satellite; determining whether the target link is blocked by the Earth based on the shortest distance point, thereby obtaining an obstruction relationship; determining the pointing relationship between the antennas of the first satellite and the antennas of the second satellite; and determining the duration based on the distance relationship, the obstruction relationship, and the pointing relationship.

[0266] In an exemplary embodiment, the first determining module 42 may determine the duration based on the distance relationship, the obstruction relationship, and the pointing relationship in the following manner: determining a first time when the distance relationship indicates that the relative distance is less than or equal to the maximum communication distance; determining a second time when the obstruction relationship indicates that the target link is not obstructed by the Earth; determining a third time when the pointing relationship indicates that the antennas of the first satellite and the antennas of the second satellite are pointing at each other; and determining the intersection time of the first time, the second time, and the third time as the duration.

[0267] In an exemplary embodiment, the first determining module 42 can determine the shortest distance point to the Earth's center included in the target straight line by: determining the third position vector of the first satellite in the geocentric inertial coordinate system, and determining the fourth position vector of the second satellite in the geocentric inertial coordinate system; determining a first difference vector between the fourth position vector and the third position vector; determining a second product between the third position vector and the first difference vector; determining the square of the magnitude of the first difference vector as a first value; determining the negative of the second ratio of the second product to the first value as a shortest distance parameter; and determining the shortest distance point based on the shortest distance parameter.

[0268] In an exemplary embodiment, the first determining module 42 may determine the shortest distance point based on the shortest distance parameter in the following manner: in response to the shortest distance parameter being greater than a first threshold and less than a second threshold, determining that the shortest distance point is between the first satellite and the second satellite; in response to the shortest distance parameter being less than or equal to the first threshold, determining that the location of the first satellite is the shortest distance point; and in response to the shortest distance parameter being greater than or equal to the second threshold, determining that the location of the second satellite is the shortest distance point.

[0269] In an exemplary embodiment, the first determining module 42 can determine whether the target link is blocked by the Earth based on the shortest distance point and obtain the blocking relationship in the following manner: in response to the shortest distance point being between the first satellite and the second satellite, the shortest distance from the shortest distance point to the Earth's center is determined; the blocking relationship is determined based on the shortest distance.

[0270] In an exemplary embodiment, the first determining module 42 can determine the shortest distance from the shortest distance point to the Earth's center in the following manner: determining a third product of the shortest distance parameter and a first difference vector, wherein the first difference vector is the difference between a third position vector and a fourth position vector, the third position vector being the vector of the first satellite in the geocentric inertial coordinate system, and the fourth position vector being the vector of the second satellite in the geocentric inertial coordinate system; determining a first sum of the third product and the third position vector; and determining the magnitude of the first sum as the shortest distance.

[0271] In an exemplary embodiment, the first determining module 42 can determine the occlusion relationship based on the shortest distance in the following manner: in response to the shortest distance being less than a preset distance, determining the occlusion relationship as the target link being occluded by the Earth; in response to the shortest distance being greater than or equal to the preset distance, determining the occlusion relationship as the target link not being occluded by the Earth.

[0272] In an exemplary embodiment, the first determining module 42 can determine whether the target link is blocked by the Earth based on the shortest distance point to obtain the blocking relationship in the following manner: in response to the shortest distance point being the location of the first satellite, the magnitude of the third position vector is determined as the first magnitude value, wherein the third position vector is the vector of the first satellite in the geocentric inertial coordinate system; in response to the first magnitude value being much greater than the Earth's radius, the blocking relationship is determined to be that the target link is not blocked by the Earth; in response to the first magnitude value not being much greater than the Earth's radius, the blocking relationship is determined to be that the target link is blocked by the Earth.

[0273] In an exemplary embodiment, the first determining module 52 can determine whether the target link is blocked by the Earth based on the shortest distance point to obtain the blocking relationship in the following manner: in response to the shortest distance point being the location of the second satellite, the magnitude of the fourth position vector is determined as the second magnitude value, wherein the fourth position vector is the vector of the second satellite in the geocentric inertial coordinate system; in response to the second magnitude value being much greater than the Earth's radius, the blocking relationship is determined to be that the target link is not blocked by the Earth; in response to the second magnitude value not being much greater than the Earth's radius, the blocking relationship is determined to be that the target link is blocked by the Earth.

[0274] In an exemplary embodiment, the first determining module 42 may determine the pointing relationship between the antennas of the first satellite and the antennas of the second satellite by: determining a first unit vector pointing from the first satellite to the second satellite, and determining a second unit vector pointing from the second satellite to the first satellite; determining a first maximum scan angle of the antenna of the first satellite, and determining a second maximum scan angle of the antenna of the second satellite; determining a first pointing relationship of the first satellite based on the first unit vector and the first maximum scan angle; determining a second pointing relationship of the second satellite based on the second unit vector and the second maximum scan angle; and determining the pointing relationship based on the first pointing relationship and the second pointing relationship.

[0275] In an exemplary embodiment, the first determining module 42 may determine the first pointing relationship of the first satellite based on the first unit vector and the first maximum scan angle by: determining the first velocity vector of the first satellite in the geocentric inertial coordinate system; constructing a first orbital coordinate system of the first satellite based on the first velocity vector; determining a first rotation matrix based on the first orbital coordinate system; transforming the first unit vector into the first orbital coordinate system based on the first rotation matrix to obtain a first vector; determining a first nominal vector pre-set for the antenna of the first satellite; and determining the first pointing relationship based on the first vector, the first nominal vector, and the first maximum scan angle.

[0276] In an exemplary embodiment, the first determining module 42 may determine the first pointing relationship based on the first vector, the first nominal vector, and the first maximum scan angle by: determining a fourth product of the first vector and the first nominal vector; determining a first cosine value of the fourth product; determining a first semi-major axis of the orbit of the first satellite; determining a fifth product of the first cosine value and the first semi-major axis; determining the first pointing relationship as the antenna of the first satellite points to the antenna of the second satellite in response to the fifth product being less than or equal to the first maximum scan angle; and determining the first pointing relationship as the antenna of the first satellite does not point to the antenna of the second satellite in response to the fifth product being greater than the first maximum scan angle.

[0277] In an exemplary embodiment, the first determining module 42 may determine the second pointing relationship of the second satellite based on the second unit vector and the second maximum scan angle by: determining the second velocity vector of the second satellite in the geocentric inertial coordinate system; constructing the second orbital coordinate system of the second satellite based on the second velocity vector; determining the second rotation matrix based on the second orbital coordinate system; transforming the second unit vector into the second orbital coordinate system based on the second rotation matrix to obtain the second vector; determining the second nominal vector pre-set for the antenna of the second satellite; and determining the second pointing relationship based on the second vector, the second nominal vector, and the second maximum scan angle.

[0278] In an exemplary embodiment, the first determining module 42 may determine the second pointing relationship based on the second vector, the second nominal vector, and the second maximum scan angle by: determining the sixth product of the second vector and the second nominal vector; determining the second cosine value of the sixth product; determining the second semi-major axis of the orbit of the second satellite; determining the seventh product of the second cosine value and the second semi-major axis; in response to the seventh product being less than or equal to the second maximum scan angle, determining the second pointing relationship as the antenna of the second satellite pointing to the antenna of the first satellite; in response to the seventh product being greater than the second maximum scan angle, determining the second pointing relationship as the antenna of the second satellite not pointing to the antenna of the first satellite.

[0279] In an exemplary embodiment, the first determining module 52 may determine the pointing relationship based on the first pointing relationship and the second pointing relationship in the following manner: in response to the first pointing relationship being that the antenna of the first satellite points to the antenna of the second satellite, and the second pointing relationship being that the antenna of the second satellite points to the antenna of the first satellite, the pointing relationship is determined to be that the antenna of the first satellite and the antenna of the second satellite point to each other; in response to the first pointing relationship being that the antenna of the first satellite does not point to the antenna of the second satellite, and / or the second pointing relationship being that the antenna of the second satellite points to the antenna of the first satellite, the pointing relationship is determined to be that the antenna of the first satellite and the antenna of the second satellite do not point to each other.

[0280] In an exemplary embodiment, the first determining module 42 may determine the link quality of the target link by: determining the signal-to-noise ratio of the target link at predetermined time intervals; and determining the first average value of the signal-to-noise ratio as the link quality.

[0281] In an exemplary embodiment, the first determining module 42 may determine the link quality of the target link by: determining a third distance between the first satellite and the second satellite at predetermined time intervals; determining a second average value of the square of the third distance; and determining the second average value as the link quality.

[0282] In an exemplary embodiment, the first determining module 42 may determine the energy cost of the target link by: determining the target energy required to transmit data units through the target link; and determining the target energy as the energy cost.

[0283] In an exemplary embodiment, the first determining module 42 may determine the target energy required to transmit the data unit through the target link by: determining the square of the third distance between the first satellite and the second satellite; and determining the target energy as the product of the energy weighting factor and the squared value.

[0284] In an exemplary embodiment, the first determining module 42 may determine the gap penalty term of the target link by: determining a first velocity vector of the first satellite and determining a second velocity vector of the second satellite; and determining the gap penalty term based on the first velocity vector and the second velocity vector.

[0285] In an exemplary embodiment, the first determining module 42 may determine the gap penalty term based on the first velocity vector and the second velocity vector in the following manner: in response to the plane where the first satellite is located and the plane where the second satellite is located satisfying a first preset condition, a third velocity vector of the first satellite relative to the geocentric-geocentric coordinate system is determined based on the first velocity vector, and a fourth velocity vector of the second satellite relative to the geocentric-geocentric coordinate system is determined based on the second velocity vector; the product of the magnitude of the difference between the fourth velocity vector and the third velocity vector and a weighting constant is determined as the gap penalty term; in response to the plane where the first satellite is located and the plane where the second satellite is located not satisfying the first preset condition, a first constant is determined as the gap penalty term.

[0286] In an exemplary embodiment, the first determining module 42 may determine the polar penalty term of the target link by: determining the third position vector of the first satellite in the geocentric inertial coordinate system, and determining the fourth position vector of the second satellite in the geocentric inertial coordinate system; determining the first geocentric latitude of the first satellite based on the third position vector, and determining the second geocentric latitude of the second satellite based on the fourth position vector; and determining the polar penalty term based on the first geocentric latitude and the second geocentric latitude.

[0287] In an exemplary embodiment, the first determining module 42 may determine the polar region penalty term based on the first geocentric latitude and the second geocentric latitude in the following manner: in response to the first geocentric latitude and the second geocentric latitude satisfying a second preset condition, a second constant is determined as the polar region penalty term; in response to the first geocentric latitude and the second geocentric latitude not satisfying the second preset condition, a third constant is determined as the polar region penalty term; wherein the second preset condition includes a first absolute value of the first geocentric latitude being greater than a first preset angle, or a second absolute value of the second geocentric latitude being greater than the first preset angle, and the second constant being different from the third constant.

[0288] In an exemplary embodiment, the first determining module 42 can determine the polar region penalty term based on the first geocentric latitude and the second geocentric latitude in the following manner: in response to the first geocentric latitude and the second geocentric latitude satisfying a second preset condition, wherein the second preset condition includes a first absolute value of the first geocentric latitude being greater than a first preset angle, or a second absolute value of the second geocentric latitude being greater than the first preset angle; determining a second difference between the first absolute value and the first preset angle; determining a third difference between the second preset angle and the first preset angle; determining a third ratio between the second difference and the third difference; determining a first maximum value among the third ratio and a preset constant; determining a fourth difference between the second absolute value and the first preset angle; determining a fourth ratio between the fourth difference and the third difference; determining a second maximum value among the fourth ratio and the preset constant; determining a ninth product of the first maximum value and a preset penalty value, and determining a tenth product of the second maximum value and the preset penalty value; and determining a second sum of the ninth product and the tenth product as the polar region penalty term.

[0289] In an exemplary embodiment, the first determining module 42 may determine the link cost based on the target cost by: determining the cost weight of the target cost; and determining the link cost by multiplying the target cost by the cost weight.

[0290] In an exemplary embodiment, the second determining module 54 may determine the remaining cost from each of the second satellites to the target satellite by: determining the great circle distance between the second satellite and the target satellite; determining the transmission cost of transmitting data through the target link; and determining the remaining cost based on the great circle distance and the transmission cost.

[0291] In an exemplary embodiment, the second determining module 44 can determine the remaining cost based on the great circle distance and the transmission cost by multiplying the great circle distance and the transmission cost as the remaining cost.

[0292] In an exemplary embodiment, the second determining module 44 may determine the remaining cost from each of the second satellites to the target satellite by: determining a first plane index of the second satellite and a second plane index of the target satellite; determining the shortest cross-plane hop count based on the first plane index, the second plane index, and the total number of orbital planes in the target constellation, wherein the target constellation includes the second satellites and the target satellite; determining the number of in-plane hops of the first plane index after the shortest cross-plane hop count; and determining the remaining cost based on the shortest cross-plane hop count and the number of in-plane hops.

[0293] In an exemplary embodiment, the second determining module 44 may determine the remaining cost based on the shortest cross-plane hop count and the in-plane hop count by: determining the cross-plane link cost and the in-plane link cost; determining the eleventh product of the cross-plane link cost and the shortest cross-plane hop count; determining the twelfth product of the in-plane link cost and the in-plane hop count; and determining the sum of the eleventh product and the twelfth product as the remaining cost.

[0294] In an exemplary embodiment, the third determining module 46 may determine an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost by: determining a third sum of the link cost and the remaining cost corresponding to each second satellite; and determining the satellite corresponding to the smallest sum included in the third sum as the intermediate satellite.

[0295] In one exemplary embodiment, the apparatus may further be used to update the first satellite to the intermediate satellite after determining the intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost; and to update the second satellite to a neighboring satellite of the intermediate satellite.

[0296] In an exemplary embodiment, the apparatus may further be configured to, after determining an intermediate satellite from a plurality of second satellites based on the link cost and the remaining cost, determine a replacement satellite from other satellites included in the plurality of second satellites in the event of a failure of the intermediate satellite, wherein the other satellites are satellites other than the intermediate satellite; and control the replacement satellite to replace the intermediate satellite.

[0297] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0298] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0299] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0300] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0301] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0302] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit 501, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0303] Figure 4 A schematic block diagram of a computer system architecture for implementing embodiments of the present application is shown. Figure 4 As shown, the computer system 500 includes a Central Processing Unit (CPU) 501, which can perform various appropriate actions and processes based on programs stored in ROM 502 or programs loaded into RAM 503 from storage section 508. Random access memory 503 also stores various programs and data required for system operation. The CPU 501, ROM 502, and RAM 503 are interconnected via bus 504. Input / output (I / O) interface 505 is also connected to bus 504.

[0304] The following components are connected to I / O interface 505: input section 506 including keyboard, mouse, etc.; output section 507 including cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; storage section 508 including hard disk, etc.; and communication section 509 including network interface card, modem, etc. Communication section 509 performs communication processing via a network such as the Internet. Drive 510 is also connected to I / O interface 505 as needed. Removable media 511, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 510 as needed so that computer programs read from them can be installed into storage section 508 as needed.

[0305] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 509, and / or installed from removable medium 511. When the computer program is executed by central processing unit 501, it performs various functions defined in the system of this application.

[0306] It should be noted that, Figure 4 The computer system 500 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0307] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0308] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A method for determining a routing path, characterized in that, include: Determine the link cost of the target link, wherein the target link includes links between a first satellite and each of the second satellites, the first satellites being adjacent to the second satellites, and the link cost is used to indicate the cost of transmitting data through the target link; Determine the remaining cost from each of the second satellites to the target satellite, wherein the target satellite is the destination satellite for receiving data; The intermediate satellite is determined from a plurality of second satellites based on the link cost and the remaining cost; The routing path from the source satellite to the target satellite is determined based on the intermediate satellite, wherein the source satellite is the satellite that sends data to the target satellite; Determining the link cost of a target link includes: determining the target cost of the target link, and determining the link cost based on the target cost, wherein determining the target cost of the target link includes: determining the gap penalty term of the target link, and determining the polar region penalty term of the target link; Determining the gap penalty term for the target link includes: determining a first velocity vector of the first satellite and a second velocity vector of the second satellite; and determining the gap penalty term based on the first velocity vector and the second velocity vector. Determining the polar penalty term for the target link includes: determining the third position vector of the first satellite in the geocentric inertial coordinate system, and determining the fourth position vector of the second satellite in the geocentric inertial coordinate system; determining the first geocentric latitude of the first satellite based on the third position vector, and determining the second geocentric latitude of the second satellite based on the fourth position vector; and determining the polar penalty term based on the first geocentric latitude and the second geocentric latitude.

2. The method according to claim 1, characterized in that, Determining the target cost of the target link also includes at least one of the following: determining the latency cost of the target link, determining the stability cost of the target link, and determining the energy cost of the target link.

3. The method according to claim 2, characterized in that, Determining the latency cost of the target link includes: Determine the first true anomaly angle of the first satellite, and determine the second true anomaly angle of the second satellite; Determine a first distance from the first satellite to the Earth's center, and determine a second distance from the second satellite to the Earth's center; The first position vector of the first satellite in the orbital coordinate system is determined based on the first true anomaly angle and the first distance, and the second position vector of the second satellite in the orbital coordinate system is determined based on the second true anomaly angle and the second distance; The first position vector is transformed into the geocentric inertial coordinate system to obtain the third position vector, and the second position vector is transformed into the geocentric inertial coordinate system to obtain the fourth position vector; The delay cost is determined based on the third position vector and the fourth position vector.

4. The method according to claim 2, characterized in that, Determining the stability cost of the target link includes: Determine the duration of the target link; Determine the link quality of the target link; The stability cost is determined based on the duration and the link quality.

5. The method according to claim 2, characterized in that, Determining the energy cost of the target link includes: Determine the target energy required to transmit the data unit through the target link; The target energy is determined as the energy cost.

6. The method according to claim 1, characterized in that, Determining the remaining cost from each of the second satellites to the target satellite includes: Determine the great circle distance between the second satellite and the target satellite, determine the transmission cost of transmitting data through the target link, and determine the remaining cost based on the great circle distance and the transmission cost; or... The first plane index of the second satellite and the second plane index of the target satellite are determined. The shortest cross-plane hop count is determined based on the first plane index, the second plane index and the total number of orbital planes in the target constellation, wherein the target constellation includes the second satellite and the target satellite. The in-plane hop count of the first plane index after the shortest cross-plane hop count is determined. The remaining cost is determined based on the shortest cross-plane hop count and the in-plane hop count.

7. A device for determining a routing path, characterized in that, include: A first determining module is used to determine the link cost of a target link, wherein the target link includes links between a first satellite and each of the second satellites, the first satellites and the second satellites being adjacent, and the link cost is used to indicate the cost of transmitting data through the target link; The second determining module is used to determine the remaining cost from each of the second satellites to the target satellite, wherein the target satellite is the destination satellite for receiving data; The third determining module is used to determine the intermediate satellite from the plurality of second satellites based on the link cost and the remaining cost; The fourth determining module is used to determine the routing path from the source satellite to the target satellite based on the intermediate satellite, wherein the source satellite is the satellite that sends data to the target satellite; The first determining module determines the link cost of the target link in the following way: determining the target cost of the target link, and determining the link cost based on the target cost, wherein determining the target cost of the target link includes: determining the gap penalty term of the target link, and determining the polar region penalty term of the target link; The first determining module determines the gap penalty term of the target link by: determining the first velocity vector of the first satellite and the second velocity vector of the second satellite; and determining the gap penalty term based on the first velocity vector and the second velocity vector. The first determining module determines the polar penalty term of the target link in the following manner: determining the third position vector of the first satellite in the geocentric inertial coordinate system, and determining the fourth position vector of the second satellite in the geocentric inertial coordinate system; determining the first geocentric latitude of the first satellite based on the third position vector, and determining the second geocentric latitude of the second satellite based on the fourth position vector; and determining the polar penalty term based on the first geocentric latitude and the second geocentric latitude.

8. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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