Iot terminal remote control method based on low earth orbit satellite communication

Abstract

The application discloses a low-orbit satellite communication-based remote control method for Internet of Things terminals, and belongs to the technical field of low-orbit satellite communication. By establishing a coverage control relationship between an Internet of Things terminal and a low-orbit satellite link, a set of distribution control behaviors is generated, and a connection delay is recorded, so that scattered communication behaviors can be converted into traceable associated data, and matching analysis of the terminal and the link is facilitated; a data matrix is constructed based on the delay and normalized, a feature profile is extracted after the data matrix is converted into a data portrait, the spatial correlation of the image features is utilized to simplify the identification of multi-terminal co-frequency behaviors, and the co-frequency interference concealment problem is quickly solved; the co-frequency behaviors are identified through profile overlap, and the link importance score is quantified to optimize the selection of the terminal link. The application solves the problems of static distribution of traditional low-orbit satellite links and difficult control of co-frequency interference, improves the link resource utilization rate and the terminal communication reliability, and is suitable for remote control in wide-area Internet of Things scenes such as oceans and deserts.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of low-orbit satellite communication, in particular to a remote control method for Internet of Things terminals based on low-orbit satellite communication. BACKGROUND

[0002] In the remote control of Internet of Things terminals supported by low-orbit satellites, efficient matching of terminals and satellite links is a core requirement, but the existing technology has significant limitations: first, link allocation lacks dynamic adaptation, traditional strategies mostly allocate links based on preset rules, without combining actual communication behaviors of terminals (such as connection frequency and time delay characteristics), resulting in uneven load of links or idle resources; second, it is difficult to identify co-frequency interference, and the co-frequency conflict caused by overlapping link selection when multiple terminals communicate concurrently is difficult to detect in real time, directly affecting the stability of data transmission; third, link priority evaluation is missing, and terminals cannot select the optimal path based on the actual performance of links (such as time delay stability and co-frequency risk), resulting in response delay of control instructions. The existing technology mostly relies on simple signal strength judgment, without forming a complete mechanism from behavior analysis to optimized decision-making, and it is difficult to meet the demand of wide-area Internet of Things for high-reliable communication. SUMMARY

[0003] The purpose of the present application is to provide a remote control method for Internet of Things terminals based on low-orbit satellite communication, to solve the problems raised in the background.

[0004] In order to solve the above technical problems, the present application provides the following technical solutions:

[0005] The remote control method for Internet of Things terminals based on low-orbit satellite communication comprises the following steps:

[0006] Step S1: based on the behavior of low-orbit satellite links used by Internet of Things terminals in the communication process, generate a coverage control relationship between Internet of Things terminals and low-orbit satellite links; when Internet of Things terminals perform low-orbit satellite link connection allocation, based on the coverage control relationship, form a set of allocation control behaviors according to the index identification of low-orbit satellite links;

[0007] Step S2: based on the set of allocation control behaviors, when performing low-orbit satellite link connection allocation, generate link behavior labels to generate a set of dynamic control labels, and the set of dynamic control labels records the connection time delay information of Internet of Things terminals connecting low-orbit satellite links;

[0008] Step S3: based on the connection time delay, taking the index identification number of low-orbit satellite links as the row number and the sequence number of low-orbit satellite link connection allocation as the column number, construct a communication behavior data matrix about the connection time delay, normalize all connection time delays in the communication behavior data matrix to obtain normalized time delay values;

[0009] Step S4: based on the normalized delay value, the communication behavior data matrix is converted into a communication behavior data portrait, and edge extraction is performed on the communication behavior data portrait to form an image feature contour;

[0010] Step S5: based on the image feature contour, overlapping identification of the contour boundary is performed between the Internet of Things terminals, and a combination of Internet of Things terminals with low-orbit satellite communication co-frequency behavior is screened out, and a co-frequency control behavior point is marked in the overlapping image area;

[0011] Step S6: based on the coordinates of the co-frequency control behavior point, a co-frequency control link identification set is generated, which is used to quantify the low-orbit satellite link importance score under the condition of low-orbit satellite link connection allocation, for the control selection of each Internet of Things terminal.

[0012] As a further preferred scheme of the present application, the specific implementation process of step S1 comprises:

[0013] An index identification of the Internet of Things terminal and the low-orbit satellite link accessed by the Internet of Things terminal is prepared respectively, and an overlay control relationship is generated between the Internet of Things terminal and the low-orbit satellite link, which is recorded based on the low-orbit satellite link behavior used by the Internet of Things terminal in the communication process;

[0014] When the Internet of Things terminal performs low-orbit satellite link connection allocation, based on the overlay control relationship, an allocation control behavior set is generated, denoted as , wherein represents the allocation control behavior set formed when the ith low-orbit satellite link connection allocation is performed, represents the dynamic Internet of Things terminal cluster connected with the yth low-orbit satellite link when the ith low-orbit satellite link connection allocation is performed, and , represents the e-th Internet of Things terminal calling the yth low-orbit satellite link when the ith low-orbit satellite link connection allocation is performed, E represents the total number of prepared Internet of Things terminals, and Y represents the total number of prepared low-orbit satellite links.

[0015] As a further preferred scheme of the present application, the specific implementation process of step S2 comprises:

[0016] Based on the allocation control behavior set, when the ith low-orbit satellite link connection allocation is performed, a link behavior label is attached to the dynamic Internet of Things terminal cluster connected with the yth low-orbit satellite link, denoted as , and , , and all link behavior labels are integrated to generate a dynamic control label set, denoted as , wherein I represents the total number of low-orbit satellite link connections;

[0017] Based on a dynamic control tag set, the IoT terminal records real-time data during the i-th low-Earth orbit satellite link connection allocation process. The connection delay for connecting to the y-th low-Earth orbit satellite link is denoted as . ,and , .

[0018] As a further preferred embodiment of the present invention, the specific implementation process of step S3 includes:

[0019] IoT terminals The corresponding generated communication behavior data matrix is ​​denoted as Then the communication behavior data matrix The data recorded in the y-th row and i-th column is the connection latency. ;

[0020] Communication behavior data matrix All connection delays are normalized to obtain normalized delay values. In the formula, Data matrix representing communication behavior The minimum value of continuous delay in the middle. Data matrix representing communication behavior The maximum value of continuous delay in the middle.

[0021] As a further preferred embodiment of the present invention, the specific implementation process of step S4 includes:

[0022] The normalized time delay value is mapped to the grayscale value range [0, 255] using the following formula: ,in, This represents the communication behavior data matrix. Converted into the grayscale value of the pixel in the y-th row and i-th column of the communication behavior data profile, and the communication behavior data matrix The matrix element in the y-th row and i-th column corresponds to the pixel with coordinates (y, i) in the communication behavior data profile, generating the IoT terminal. Corresponding communication behavior data profile ;

[0023] Using edge detection algorithms to profile communication behavior data Edge extraction is performed to form the image feature contour, denoted as... And image feature contour The data contains a continuous series of pixels.

[0024] As a further preferred embodiment of the present invention, the specific implementation process of step S5 includes:

[0025] For any two IoT terminals and ,and Obtain image feature contours and image feature contour The overlapping image area is considered; if the overlapping image area is greater than or equal to a preset image matching threshold, then the IoT terminal is determined to be... and If there is low-orbit satellite communication frequency sharing, then the IoT terminal is considered to be involved. and There is no low-orbit satellite communication frequency sharing behavior between them;

[0026] For IoT terminals IoT terminals exhibiting low-orbit satellite communication frequency co-frequency behavior And e≠q, mark each pixel within the overlapping image area as a common frequency control behavior point;

[0027] It's important to note that frequency co-use essentially involves multiple IoT terminals sharing the frequency resources of the same low-Earth orbit satellite link during the same time period. This can lead to signal interference, channel congestion, and other problems. Connection latency is a direct indicator of the degree of interference affecting communication quality. When multiple terminals share the same link, interference such as signal collisions and power contention can increase data transmission latency, manifesting as abnormal fluctuations in connection latency (such as increased latency and jitter). Conversely, if terminals use different links or there are no frequency co-use conflicts, the latency remains relatively stable. Therefore, latency data from different terminals will exhibit similar abnormal characteristics in frequency co-use scenarios (such as the timing of latency peaks and overlapping link indices), providing a theoretical basis for identifying the regular effects of frequency co-use.

[0028] The interaction behavior between the terminal and the link is transformed into structured latency data. The co-frequency behavior will cause the latency values ​​of different terminals on the same link (row) and the same number of allocations (columns) to show a high correlation (such as simultaneous increase or fluctuation). This correlation is further amplified by subsequent normalization and feature extraction. Finally, the co-frequency terminal pair can be quickly located by contour overlap recognition.

[0029] Converting normalized latency values ​​into grayscale images simplifies the identification of multi-terminal co-frequency behavior by utilizing the spatial correlation of image features. Normalized latency values ​​(range [0, 1]) are abstract numerical values, and directly identifying the co-frequency correlation of multiple terminals through numerical comparison is inefficient. However, after being converted into grayscale images (grayscale value range [0, 255]), the magnitude of the latency is mapped to the brightness of pixels. The larger the latency, the higher (or lower) the grayscale value. The distribution pattern of latency is transformed into the brightness distribution pattern of the image. This visualization makes the interaction behavior between the terminal and the link (such as the latency change of a link in multiple allocations) intuitively presented in the form of "image outline".

[0030] The shape and position of the contour directly reflect the distribution characteristics of the delay data (such as the abnormal delay of a link in which distribution times), when two terminals exist in the co-frequency behavior, the contour of the gray image will overlap in the area corresponding to the link (row) and the distribution times (column), the pixel light and dark mode of the overlapping area is consistent, which indicates that the delay characteristics of the two in the link and the time period are highly consistent, that is, there is co-frequency interference, compared with the direct comparison of the numerical matrix, the spatial overlap of the image contour is more efficient, and the co-frequency terminal combination pair can be quickly screened out.

[0031] As a further preferred scheme of the present application, the specific implementation process of step S6 comprises:

[0032] Based on the coordinates (y, i) of the co-frequency control behavior point, the IoT terminal and the IoT terminal The co-frequency selection low-orbit satellite link index identifier is generated, and the co-frequency control link identifier set is recorded as ;

[0033] Based on the co-frequency control link identifier set, the importance score of the low-orbit satellite link y in the low-orbit satellite link connection distribution is quantified , wherein U represents a co-frequency combination pair set composed of the combination pair of the IoT terminals existing in the low-orbit satellite communication co-frequency behavior, and |U| represents the total number of the combination pair of the IoT terminals included in the co-frequency combination pair set U;

[0034] When the low-orbit satellite link y is used as the co-frequency guide, if , then , otherwise ;

[0035] When the next low-orbit satellite link connection distribution is performed, the low-orbit satellite link with the largest importance score is preferentially controlled to be called by the IoT terminal, and when the number of the IoT terminals calling the low-orbit satellite link reaches the upper limit, the IoT terminals not performing the calling are selected in the order of decreasing importance score;

[0036] It should be noted that the link importance score is to quantify the "co-frequency heat" and "reliability priority" of the link in actual communication, and the distribution times is a key parameter to ensure the statistical significance of the score, the importance score needs to be based on the "historical performance" of the link being selected by the co-frequency, and the co-frequency behavior of a single distribution may exist accidentally (such as misselection caused by temporary signal interference), through the cumulative data of multiple distributions, accidental factors can be filtered, and the real frequency of the link being selected by the terminal co-frequency can be accurately reflected, the more the distribution times, the larger the statistical sample size, and the more reliable the score; The importance of the link depends not only on the number of times of being co-frequency, but also on the "continuity" of the co-frequency, for example, a certain link is co-frequency 8 times in 10 distributions, which is obviously more important than a link that is co-frequency only 2 times in distribution, by introducing the distribution times, the time distribution of the co-frequency behavior is taken into account in the scoring formula, ensuring that the link with "long-term stable high-frequency co-frequency and controllable interference" is preferentially selected, and finally the dynamic optimization distribution of the link resource is realized.

[0037] As a further preferred scheme of the present application, the low-orbit satellite communication Internet of Things terminal remote control method is executed by a low-orbit satellite communication Internet of Things terminal remote control system, the system comprising: a coverage control module, a dynamic label module, a matrix processing module, an image extraction module, a co-frequency identification module and a link optimization module;

[0038] The coverage control module is configured to compile a unique identifier for the Internet of Things terminal and the low-orbit satellite link, establish a coverage control relationship based on the link usage behavior in the terminal communication process, and generate a distribution control behavior set when the link connection is distributed.

[0039] The dynamic label module is configured to, based on the distribution control behavior set, attach a link behavior label to the terminal cluster connected in each link distribution, generate a dynamic control label set and record the time delay information of the terminal connection link in real time.

[0040] The matrix processing module is configured to construct a communication behavior data matrix with the link identifier and the distribution order number as the dimensions, and perform normalization processing on the connection time delay in the matrix.

[0041] The image extraction module is configured to map the normalized time delay value to a gray value to generate a data image, and extract the image feature profile of the image by an edge detection algorithm.

[0042] The co-frequency identification module is configured to identify the overlapping area of different terminal feature profiles, screen co-frequency terminal combination pairs and mark co-frequency control behavior points.

[0043] The link optimization module is configured to generate a co-frequency control link identifier set based on the co-frequency control behavior points, quantify the link importance score and provide a priority selection basis for the terminal.

[0044] Compared with the prior art, the present application has the beneficial effects that: by establishing the coverage control relationship between the Internet of Things terminal and the low-orbit satellite link, generating the distribution control behavior set and recording the connection delay, the dispersed communication behavior can be converted into traceable associated data, facilitating the matching analysis of the terminal and the link; based on the delay, the data matrix is constructed and normalized, the feature profile is extracted after the data portrait is converted, the spatial correlation of the image features is used to simplify the identification of the multi-terminal co-frequency behavior, so as to quickly solve the problem of co-frequency interference concealment; the co-frequency behavior is identified by profile overlap, and the link importance score is quantified to optimize the terminal link selection. The present application solves the problems of traditional low-orbit satellite link distribution staticization and co-frequency interference difficult to control, improves the link resource utilization rate and terminal communication reliability, and is suitable for remote control in wide-area Internet of Things scenes such as oceans and deserts. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, which together with the embodiments of the present application, serve to explain the present application, and do not constitute a limitation on the present application.

[0046] Figure 1 is a step schematic diagram of the remote control method of the Internet of Things terminal based on low-orbit satellite communication of the present application. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0048] Please refer to Figure 1 In the present embodiment one: a remote control method of an Internet of Things terminal based on low-orbit satellite communication is provided, which comprises:

[0049] Step S1: based on the low-orbit satellite link behavior used by the Internet of Things terminal in the communication process, the coverage control relationship between the Internet of Things terminal and the low-orbit satellite link is generated; when the Internet of Things terminal performs low-orbit satellite link connection distribution, based on the coverage control relationship, the distribution control behavior set is formed according to the low-orbit satellite link index identification;

[0050] Exemplarily, the index identification of the Internet of Things terminal and the low-orbit satellite link accessed by the Internet of Things terminal is prepared respectively, and the coverage control relationship between the Internet of Things terminal and the low-orbit satellite link is generated, which is recorded based on the low-orbit satellite link behavior used by the Internet of Things terminal in the communication process;

[0051] The allocation control behavior set is generated based on the coverage control relationship when the low-orbit satellite link connection is allocated at the Internet of Things terminal, and is denoted as , wherein denotes the allocation control behavior set formed when the i-th low-orbit satellite link connection is allocated, denotes the dynamic Internet of Things terminal cluster connected with the y-th low-orbit satellite link when the i-th low-orbit satellite link connection is allocated, and , denotes the e-th Internet of Things terminal of the y-th low-orbit satellite link when the i-th low-orbit satellite link connection is allocated, E denotes the total number of the Internet of Things terminals prepared, and Y denotes the total number of the low-orbit satellite links prepared;

[0052] For example, taking an ocean-going ship Internet of Things monitoring system as a scenario, 10 ship terminals (numbered N1-N10) and 5 low-orbit satellite links (numbered L1-L5) are included, the terminals need to transmit data such as position and equipment state through the links, the communication delay is required to be less than or equal to 0.8s, and the common frequency conflict rate is required to be less than or equal to 8%;

[0053] When the coverage control and the allocation behavior are performed:

[0054] The unique identifiers are prepared for the terminals N1-N10 and the links L1-L5, and the terminal communication behaviors (for example, N1 mainly uses L1 and L2, and N3 mainly uses L2 and L3) are recorded;

[0055] When the first link allocation is performed, the allocation control behavior set is generated based on the coverage control relationship: L1 is connected with {N1, N6}, L2 is connected with {N1, N3, N7}, L3 is connected with {N3, N8}, and the like, so as to realize the dynamic association of the links and the terminals.

[0056] Step S2: When the low-orbit satellite link connection is allocated, the link behavior label is generated based on the allocation control behavior set, so as to generate the dynamic control label set, and the connection delay information of the Internet of Things terminal connected with the low-orbit satellite link is recorded in the dynamic control label set;

[0057] Exemplarily, when the i-th low-orbit satellite link connection is allocated, the link behavior label is attached to the dynamic Internet of Things terminal cluster connected with the y-th low-orbit satellite link based on the allocation control behavior set, and is denoted as , and , The overall link behavior labels are planned to generate the dynamic control label set, and are denoted as , wherein I denotes the total number of the low-orbit satellite link connections;

[0058] Based on the dynamic control label set, the Internet of Things terminal Connection delay of the yth low-orbit satellite link, denoted as , and , ;

[0059] When performing dynamic label and delay recording:

[0060] Append behavior labels to the terminal cluster {N1, N3, N7} of L2 connection, and generate a dynamic control label set;

[0061] Record the delay, the delay of N1 connecting L2 is 0.5s, the delay of N3 connecting L2 is 0.6s, and the delay of N7 connecting L2 is 0.7s; the second time allocation, the delay of N1 connecting L2 is 0.4s, and the delay of N3 connecting L2 is 0.5s.

[0062] Step S3: Based on the connection delay, the low-orbit satellite link index number is used as the row number, and the low-orbit satellite link connection allocation number is used as the column number, a communication behavior data matrix about the connection delay is constructed, and all connection delays in the communication behavior data matrix are normalized to obtain normalized delay values;

[0063] Exemplarily, the Internet of Things terminal corresponding to the generated communication behavior data matrix is denoted as , then the communication behavior data matrix records the data of the yth row and the ith column as the connection delay ;

[0064] All connection delays in the communication behavior data matrix are normalized to obtain normalized delay values , wherein represents the minimum value of the continuous delay in the communication behavior data matrix , and represents the maximum value of the continuous delay in the communication behavior data matrix ;

[0065] When constructing the matrix and performing the normalization processing:

[0066] The communication behavior data matrix is constructed with the links L1-L5 as rows and the allocation times 1-6 as columns, and part of the delay data of L2 is as follows:

[0067] Table 1 Part of the delay data of L2

[0068] ;

[0069] Assuming that the minimum and maximum values of all continuous delays in the communication behavior data matrix are 0.4 and 0.7 respectively, then the first normalized delay value of L2 is (0.5-0.4) / (0.7-0.4)≈0.33.

[0070] Step S4: based on the normalized delay value, the communication behavior data matrix is converted into a communication behavior data image, edge extraction is performed on the communication behavior data image, and an image feature contour is formed;

[0071] Exemplarily, the normalized delay value is mapped to a gray value range [0, 255], and the mapping formula is , wherein , indicates that the communication behavior data matrix is converted into a gray value of a pixel point in the yth row and the ith column of the communication behavior data image, and the matrix element in the yth row and the ith column of the communication behavior data matrix corresponds to a pixel point with coordinates (y, i) in the communication behavior data image, and the generated Internet of Things terminal corresponds to the communication behavior data image .

[0072] An edge detection algorithm is used to perform edge extraction on the communication behavior data image , and an image feature contour is formed, denoted as , and the image feature contour records continuous pixel points.

[0073] When generating the image and extracting the contour:

[0074] The normalized value is mapped to a gray value (0→0, 1→255), and the L2 first normalized value 0.33 corresponds to a gray value of 84, and a data image is generated;

[0075] An edge detection algorithm is used to extract the contour, and the image contour of N1 shows that the gray value of the L2 link is concentrated in 0.3-0.5 (normalized value), and the contour of N3 shows that the gray value of the L2 link is concentrated in 0.4-0.6, and the overlap is obvious.

[0076] Step S5: based on the image feature contour, overlap recognition of the contour boundary is performed between the Internet of Things terminals, a combination of the Internet of Things terminals with low-orbit satellite communication co-frequency behavior is screened out, and a co-frequency control behavior point is marked in the overlapped image area;

[0077] Exemplarily, for any two Internet of Things terminals and , and , the overlapped image area between the image feature contour and the image feature contour is obtained, if the overlapped image area is greater than or equal to a preset image matching threshold, it is determined that the Internet of Things terminals and have low-orbit satellite communication co-frequency behavior, otherwise it is determined that the Internet of Things terminals and There is no low-orbit satellite communication co-frequency behavior between the two;

[0078] For the Internet of Things terminal There is low-orbit satellite communication co-frequency behavior for the Internet of Things terminal , and e≠q, mark each pixel point in the overlapping image area as a co-frequency control behavior point;

[0079] When co-frequency identification is performed:

[0080] The contour overlap area is calculated as 52% (preset threshold 30%), and it is determined that N1 and N3 have co-frequency behavior at L2, and the co-frequency control behavior points in the overlapping area are marked.

[0081] Step S6: Based on the coordinates of the co-frequency control behavior points, generate a co-frequency control link identification set, which is used to quantify the importance score of the low-orbit satellite link under the condition of low-orbit satellite link connection allocation, for the control selection of each Internet of Things terminal;

[0082] Exemplarily, based on the coordinates (y, i) of the co-frequency control behavior points, separate out the low-orbit satellite link index identification selected by the Internet of Things terminal with the Internet of Things terminal under the condition of co-frequency, generate a co-frequency control link identification set, denoted as ;

[0083] Based on the co-frequency control link identification set, take the low-orbit satellite link y as the co-frequency guide, and quantify the importance score of the low-orbit satellite link y under the condition of low-orbit satellite link connection allocation , wherein U represents a co-frequency combination pair set formed by the combination of Internet of Things terminal pairs that have low-orbit satellite communication co-frequency behavior, and |U| represents the total number of Internet of Things terminal combination pairs included in the co-frequency combination pair set U;

[0084] When the low-orbit satellite link y is taken as the co-frequency guide, , then let , otherwise let ;

[0085] When the next low-orbit satellite link connection allocation is performed, the low-orbit satellite link with the highest importance score is preferentially controlled for the Internet of Things terminal to call, and when the number of Internet of Things terminals calling the low-orbit satellite link reaches the upper limit, the Internet of Things terminals not performing the calling are selected in descending order of importance score;

[0086] When link scoring and optimization selection are performed:

[0087] L2 has an importance score value of 0.67 in 6 allocations, and the co-frequency combination pair is only N1-N3, and N1 and N3 are called in priority according to the highest score.

[0088] In the second embodiment: the low-orbit satellite communication-based IoT terminal remote control method in the above-mentioned first embodiment is executed by a low-orbit satellite communication-based IoT terminal remote control system, which includes a coverage control module, a dynamic label module, a matrix processing module, an image extraction module, a co-frequency identification module, and a link optimization module;

[0089] The coverage control module is configured to compile unique identifiers for IoT terminals and low-orbit satellite links, establish coverage control relationships based on link usage behaviors in terminal communication processes, and generate a set of allocation control behaviors when links are connected and allocated.

[0090] The dynamic label module is configured to, based on the set of allocation control behaviors, attach link behavior labels to terminal clusters connected in each link allocation, generate a set of dynamic control labels, and record real-time time delay information of terminal connection links.

[0091] The matrix processing module is configured to construct a communication behavior data matrix with link identifiers and allocation sequence numbers as dimensions, and perform normalization processing on connection time delays in the matrix.

[0092] The image extraction module is configured to map normalized time delay values to gray values to generate a data image, and extract image feature contours of the image by an edge detection algorithm.

[0093] The co-frequency identification module is configured to identify overlapping areas of different terminal feature contours, filter co-frequency terminal combination pairs, and mark co-frequency control behavior points.

[0094] The link optimization module is configured to generate a set of co-frequency control link identifiers based on the co-frequency control behavior points, quantify link importance scores, and provide priority selection basis for terminals.

[0095] It should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0096] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application, and although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements to some technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A remote control method for IoT terminals based on low-Earth orbit satellite communication, characterized in that, The method includes the following steps: Step S1: Based on the behavior of the low-Earth orbit satellite link used by the IoT terminal during communication, generate the coverage control relationship between the IoT terminal and the low-Earth orbit satellite link; when the IoT terminal allocates low-Earth orbit satellite link connections, based on the coverage control relationship and according to the low-Earth orbit satellite link index identifier, form an allocation control behavior set. Step S2: Based on the allocation control behavior set, when allocating low-Earth orbit satellite link connections, link behavior tags are generated to generate a dynamic control tag set, and the dynamic control tag set records the connection delay information of IoT terminals connecting to low-Earth orbit satellite links. Step S3: Based on the connection delay, construct a communication behavior data matrix about the connection delay using the low-Earth orbit satellite link index identifier as the row number and the low-Earth orbit satellite link connection allocation number as the column number. Normalize all connection delays in the communication behavior data matrix to obtain normalized delay values. Step S4: Based on the normalized time delay value, the communication behavior data matrix is ​​transformed into a communication behavior data profile, and edge extraction is performed on the communication behavior data profile to form image feature contours; Step S5: Based on image feature contours, identify the overlap of contour boundaries among IoT terminals, filter out IoT terminal pairs that exhibit low-orbit satellite communication co-frequency behavior, and mark the co-frequency control behavior points within the overlapping image area; Step S6: Based on the coordinates of the co-frequency control action points, generate a co-frequency control link identifier set to quantify the importance score of the low-Earth orbit satellite link under the low-Earth orbit satellite link connection allocation situation, so as to provide control selection for each IoT terminal.

2. The method for remote control of an Internet of Things terminal based on low-Earth orbit satellite communication according to claim 1, characterized in that, The specific implementation process of step S1 includes: The index identifiers of the IoT terminal and the low-Earth orbit satellite link accessed by the IoT terminal are compiled respectively, and the coverage control relationship is generated between the IoT terminal and the low-Earth orbit satellite link. The coverage control relationship is based on the behavior of the low-Earth orbit satellite link used by the IoT terminal during the communication process. When an IoT terminal allocates low-Earth orbit satellite link connections, a set of allocation control behaviors is generated based on coverage control relationships, denoted as... ,in, This represents the set of allocation control behaviors formed during the i-th low-Earth orbit satellite link connection allocation. This represents a dynamic cluster of IoT terminals connected to the y-th low-Earth orbit satellite link during the i-th low-Earth orbit satellite link allocation, and... , This indicates that when the i-th low-Earth orbit satellite link connection allocation is performed, the e-th IoT terminal calls the y-th low-Earth orbit satellite link, where E represents the total number of IoT terminals and Y represents the total number of low-Earth orbit satellite links.

3. The method for remote control of an Internet of Things terminal based on low-Earth orbit satellite communication according to claim 2, characterized in that, The specific implementation process of step S2 includes: Based on the allocation control behavior set, during the i-th low-Earth orbit satellite link connection allocation, a link behavior tag is attached to the dynamic IoT terminal cluster connected to the y-th low-Earth orbit satellite link, denoted as [tag]. ,and , It coordinates all link behavior tags to generate a dynamic control tag set, denoted as... Where I represents the total number of low-Earth orbit satellite link connections; Based on a dynamic control tag set, the IoT terminal records real-time data during the i-th low-Earth orbit satellite link connection allocation process. The connection delay for connecting to the y-th low-Earth orbit satellite link is denoted as . ,and , .

4. The method for remote control of an Internet of Things terminal based on low-Earth orbit satellite communication according to claim 3, characterized in that, The specific implementation process of step S3 includes: IoT terminals The corresponding generated communication behavior data matrix is ​​denoted as Then the communication behavior data matrix The data recorded in the y-th row and i-th column is the connection latency. ; Communication behavior data matrix All connection delays are normalized to obtain normalized delay values. In the formula, Data matrix representing communication behavior The minimum value of continuous delay in the middle. Data matrix representing communication behavior The maximum value of continuous delay in the middle.

5. The method for remote control of an Internet of Things terminal based on low-Earth orbit satellite communication according to claim 4, characterized in that, The specific implementation process of step S4 includes: The normalized time delay value is mapped to the grayscale value range [0, 255] using the following formula: ,in, This represents the communication behavior data matrix. Converted into the grayscale value of the pixel in the y-th row and i-th column of the communication behavior data profile, and the communication behavior data matrix The matrix element in the y-th row and i-th column corresponds to the pixel with coordinates (y, i) in the communication behavior data profile, generating the IoT terminal. Corresponding communication behavior data profile ; Using edge detection algorithms to profile communication behavior data Edge extraction is performed to form the image feature contour, denoted as... And image feature contour It records consecutive pixels.

6. The method for remote control of an Internet of Things terminal based on low-Earth orbit satellite communication according to claim 5, characterized in that, The specific implementation process of step S5 includes: For any two IoT terminals and ,and Obtain image feature contours and image feature contour The overlapping image area is considered; if the overlapping image area is greater than or equal to a preset image matching threshold, then the IoT terminal is determined to be... and If there is low-orbit satellite communication frequency sharing, then the IoT terminal is considered to be involved. and There is no low-orbit satellite communication frequency sharing behavior between them; For IoT terminals IoT terminals exhibiting low-orbit satellite communication frequency co-frequency behavior And e≠q, mark each pixel within the overlapping image area as a common frequency control behavior point.

7. The method for remote control of an Internet of Things terminal based on low-Earth orbit satellite communication according to claim 6, characterized in that, The specific implementation process of step S6 includes: Based on the coordinates (y, i) of the common frequency control action point, the IoT terminal is separated during each low-Earth orbit satellite link connection allocation. With IoT terminals The low-Earth orbit satellite link index identifier for frequency co-frequency selection is used to generate a frequency co-frequency control link identifier set, denoted as . ; Based on the co-frequency control link identifier set, and using the low-Earth orbit satellite link y as the co-frequency guide, the importance score of the low-Earth orbit satellite link y in the low-Earth orbit satellite link connection allocation scenario is quantified. In the formula, U represents the set of IoT terminal pairs that exhibit low-orbit satellite communication frequency sharing behavior, and |U| represents the total number of IoT terminal pairs contained in the set U. When using low-Earth orbit satellite link y as the common frequency guide, if Then let Otherwise ; When allocating LEO satellite links for the next time, priority is given to LEO satellite links with the highest importance score for IoT terminals to use. When the number of IoT terminals using LEO satellite links reaches the upper limit, IoT terminals that have not yet been called can choose in descending order of importance score.

8. The method for remote control of an Internet of Things terminal based on low-Earth orbit satellite communication according to claim 1, characterized in that, The method for remotely controlling IoT terminals based on low-Earth orbit satellite communication is executed through an IoT terminal remote control system. The system includes: a coverage control module, a dynamic tag module, a matrix processing module, an image extraction module, a co-frequency identification module, and a link optimization module. The coverage control module is used to assign unique identifiers to IoT terminals and low-orbit satellite links, establish coverage control relationships based on link usage behavior during terminal communication, and generate a set of allocation control behaviors when allocating link connections. The dynamic tag module, based on the allocation control behavior set, adds link behavior tags to the terminal clusters connected in each link allocation, generates a dynamic control tag set, and records the latency information of the terminal connection link in real time. The matrix processing module is used to construct a communication behavior data matrix with link identifier and allocation sequence number as dimensions, and to normalize the connection delay in the matrix. The image extraction module is used to map normalized time delay values ​​to grayscale values ​​to generate data images, and to extract the image feature contours of the images through an edge detection algorithm. The common frequency identification module is used to identify the overlapping areas of the feature contours of different terminals, filter common frequency terminal pairs, and mark common frequency control behavior points; The link optimization module generates a common frequency control link identifier set based on common frequency control behavior points, quantifies the link importance score, and provides the terminal with a priority selection basis.

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