Cooperative communication method and system based on remote intelligent inspection terminal and satellite terminal

Abstract

The invention discloses a cooperative communication method and system based on a remote intelligent inspection terminal and a satellite terminal, and relates to the technical field of cooperative communication. The method comprises the steps that a remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors operation state indexes of the multi-modal data, generates a judgment decision result and sends a cooperation request to a satellite terminal, and the satellite terminal feeds back available link resources, dynamically matches the position of the remote intelligent inspection terminal and automatically tracks the track of a low-orbit satellite terminal. A priority scheduling strategy of the multi-modal data is generated based on a judgment decision result, a temporary encryption channel is established for data interaction, the satellite terminal verifies the data and transmits the data back to the far-end command platform through a low-orbit satellite, the remote intelligent inspection terminal performs adaptive link switching according to a moving track, and the satellite terminal responds to a switching request in real time. Through cooperative communication between the remote intelligent inspection terminal and the satellite terminal, the environmental adaptability and reliability of data transmission in a complex scene are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of cooperative communication, in particular to a cooperative communication method and system based on a remote intelligent inspection terminal and a satellite terminal. BACKGROUND

[0002] In the remote inspection scene of the fields of electric power, oil and gas, forestry, etc., the remote intelligent inspection terminal needs to collect device status, environmental data, high-definition video and other multi-modal data and return in complex environments such as deep mountains, near seas and deserts, but the existing communication methods have significant limitations: the ground network has insufficient coverage in weak or no network areas, and single satellite communication is easily affected by orbital characteristics and weather interference, resulting in high transmission delay and poor stability; data transmission lacks dynamic strategy adaptation, making it difficult to balance the priority of emergency fault data and regular data, and the large capacity characteristics of multi-modal data exacerbate the bandwidth and energy consumption contradiction; at the same time, data transmission in complex scenarios faces security risks such as signal interference, identity forgery and data tampering, and traditional encryption and verification mechanisms cannot meet the high-reliability communication requirements. Therefore, there is an urgent need for a cooperative communication method and system that can integrate the advantages of ground and satellite links, dynamically adapt to scene changes, and ensure safe and efficient data transmission. SUMMARY

[0003] The present application provides a cooperative communication method based on a remote intelligent inspection terminal and a satellite terminal, comprising:

[0004] Step S1, the remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors its running state indicators, generates a decision-making result through a dynamic cooperative decision-making algorithm, and sends a cooperative request to the satellite terminal;

[0005] Step S2, the satellite terminal feeds back available link resources, dynamically matches the remote intelligent inspection terminal position through the electronic beam forming technology of the phased array antenna, and automatically tracks the low-orbit satellite terminal trajectory;

[0006] Step S3, based on the decision-making result, a priority scheduling strategy for multi-modal data is generated, a temporary encryption channel is established through hardware-level encryption and dynamic frequency hopping technology, and data interaction is performed;

[0007] Step S4, the satellite terminal verifies the data through the on-board data quality confidence degree, and returns to the remote command platform through the low-orbit satellite;

[0008] Step S5, the remote intelligent inspection terminal performs adaptive link switching according to the moving trajectory, and the satellite terminal responds to the switching request in real time.

[0009] The cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal as described above, wherein the remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors the running state indicators, generates a decision-making result through a dynamic cooperative decision-making algorithm, and sends a cooperative request to the satellite terminal, including the following sub-steps:

[0010] Step S11, the remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors the terminal real-time running state indicators, and generates a scene label.

[0011] Step S12, based on the multi-modal data, the scene label, and the preset cooperative communication decision-making core parameters, a cooperative transmission strategy is determined through a dynamic cooperative decision-making algorithm, a decision-making result is generated, and a cooperative request is sent to the satellite terminal.

[0012] The cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal as described above, wherein the satellite terminal feedback available link resources, dynamically match the remote intelligent inspection terminal position through the electronic beam forming technology of phased array antenna, and automatically track the low earth orbit satellite terminal trajectory, including the following sub-steps:

[0013] Step S21, the satellite terminal receives the cooperative request and feedback available link resources.

[0014] Step S22, through the electronic beam forming technology of phased array antenna, the remote intelligent inspection terminal position is dynamically matched, and the low earth orbit satellite terminal trajectory is automatically tracked.

[0015] The cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal as described above, wherein the priority scheduling strategy of multi-modal data is generated based on the decision-making result, a temporary encrypted channel is established through hardware-level encryption and dynamic frequency hopping technology, and data interaction is performed, including the following sub-steps:

[0016] Step S31, the priority scheduling strategy of multi-modal data is generated based on the decision-making result.

[0017] Step S32, a temporary encrypted channel is established through hardware-level encryption and dynamic frequency hopping technology, and data interaction is performed.

[0018] The cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal as described above, wherein the satellite terminal verifies the data quality confidence through calculation, and transmits the data to the remote command platform through the low earth orbit satellite, including the following sub-steps:

[0019] Step S41, the satellite terminal calculates the data quality confidence of the on-board data, and verifies the data.

[0020] Step S42, based on the verification result, the data is transmitted to the remote command platform through the low earth orbit satellite.

[0021] The cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal as described above, wherein the remote intelligent inspection terminal performs adaptive link switching according to the moving trajectory, and the satellite terminal responds to the switching request in real time, and the method comprises the following steps:

[0022] Step S51, the remote intelligent inspection terminal predicts network coverage changes according to the moving trajectory;

[0023] Step S52, adaptive link switching is performed according to the predicted network coverage changes;

[0024] Step S53, the satellite terminal responds to the switching request in real time according to the link switched by the remote intelligent inspection terminal.

[0025] The application also provides a cooperative communication system based on a remote intelligent inspection terminal and a satellite terminal, comprising:

[0026] A remote intelligent inspection terminal data processing request sending module, which collects multi-modal data in real time, synchronously monitors terminal running state indicators, generates a decision-making result through a dynamic cooperative decision-making algorithm, and sends a cooperative request to the satellite terminal;

[0027] A satellite terminal feedback tracking module, which feeds back available link resources, dynamically matches the remote intelligent inspection terminal position through the electronic beam forming technology of the phased array antenna, and automatically tracks the low-orbit satellite terminal trajectory;

[0028] A data interaction module, which generates a priority scheduling strategy of multi-modal data based on the decision-making result, establishes a temporary encrypted channel through hardware-level encryption and dynamic frequency hopping technology, and performs data interaction;

[0029] A data verification back module, which verifies the data through the on-board data quality confidence of the satellite terminal, and returns the data to the remote command platform through the low-orbit satellite;

[0030] A link switching module, which performs adaptive link switching according to the moving trajectory of the remote intelligent inspection terminal, and responds to the switching request in real time.

[0031] The cooperative communication system based on the remote intelligent inspection terminal and the satellite terminal as described above, wherein the remote intelligent inspection terminal data processing request sending module specifically comprises:

[0032] A scene label generation sub-module, which collects multi-modal data in real time, synchronously monitors terminal real-time running state indicators, and generates a scene label;

[0033] The cooperative request sending submodule determines a cooperative transmission strategy based on the multi-modal data, the scene label and preset cooperative communication decision core parameters through a dynamic cooperative decision algorithm, generates a determination decision result, and sends a cooperative request to the satellite terminal.

[0034] The satellite terminal feedback tracking module comprises:

[0035] The cooperative request receiving link feedback submodule receives the cooperative request and feeds back available link resources.

[0036] The position positioning tracking submodule dynamically matches the remote intelligent inspection terminal position through the electronic beam forming technology of the phased array antenna, and automatically tracks the low-orbit satellite terminal track.

[0037] The data interaction module comprises a data scheduling strategy generation submodule that generates a multi-modal data priority scheduling strategy based on the determination decision result.

[0038] The channel establishment data interaction submodule establishes a temporary encrypted channel through hardware-level encryption and dynamic frequency hopping technology to perform data interaction.

[0039] The data verification back transmission module comprises:

[0040] The data verification submodule calculates the on-board data quality confidence of the data, and verifies the data.

[0041] The data back transmission submodule transmits the data to the remote command platform through the low-orbit satellite based on the verification result.

[0042] The link switching module comprises:

[0043] The network coverage transformation prediction submodule predicts the network coverage change according to the moving track.

[0044] The link switching submodule performs adaptive link switching according to the predicted network coverage change.

[0045] The switching response submodule responds to the switching request in real time according to the link switched by the remote intelligent inspection terminal.

[0046] The beneficial effects realized by the present application are as follows: through the cooperative communication of the remote intelligent inspection terminal and the satellite terminal, the environmental adaptability and reliability of data transmission in complex scenarios are significantly improved, the communication coverage problem in weak network and no network areas is effectively solved, the continuity and real-time performance of data transmission are ensured; at the same time, through dynamic strategy optimization and security mechanism strengthening, the efficiency and security of data transmission are improved, the influence of external interference and data risk on the communication process is reduced, stable communication support is provided for efficient development of remote inspection business, and the timeliness and accuracy of remote decision-making are enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0048] Figure 1 is a flow chart of a cooperative communication method based on a remote intelligent inspection terminal and a satellite terminal provided by the present application embodiment one;

[0049] Figure 2 is a schematic diagram of a cooperative communication system based on a remote intelligent inspection terminal and a satellite terminal provided by the present application embodiment two. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0051] Embodiment one

[0052] As shown in Figure 1 , the present application embodiment one provides a cooperative communication method based on a remote intelligent inspection terminal and a satellite terminal, which comprises the following steps:

[0053] Step S1, the remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors its running state indicators, generates a decision-making result through a dynamic cooperative decision-making algorithm, and sends a cooperative request to the satellite terminal;

[0054] Further, the remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors its running state indicators, generates a decision-making result through a dynamic cooperative decision-making algorithm, and sends a cooperative request to the satellite terminal, which comprises the following sub-steps:

[0055] Step S11, the remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors terminal real-time running state indicators, and generates scene labels;

[0056] Specifically, the multi-modal data includes but is not limited to device state data, environment data, and multimedia data, wherein the device state data includes parameters reflecting the health status of the device such as power transmission line joint temperature, device running vibration frequency, and insulation resistance value, the environment data includes parameters such as inspection area terrain image, environment temperature and humidity, wind speed, and atmospheric pressure, and the multimedia data includes high-definition video, laser point cloud data, and the like. The terminal real-time running state indicators include but are not limited to ground network signal strength, percentage of remaining power, and local data cache amount. The real-time location information is obtained based on the positioning module of the remote intelligent inspection terminal. The scene labels are generated based on the terminal real-time running state indicators, real-time location information, and inspection area terrain features, including scene labels containing location information such as "deep mountain area without network" and "near sea area with weak network".

[0057] Step S12, based on the multi-modal data, scene labels, and preset collaborative communication decision core parameters, the dynamic collaborative decision algorithm is used to determine the collaborative transmission strategy, generate a decision result, and send a collaborative request to the satellite terminal;

[0058] Specifically, the specific implementation method of the dynamic collaborative decision algorithm is to perform dimensionless processing on the multi-modal data, scene labels, and preset collaborative communication decision core parameters, and generate a formula for dynamic collaborative decision result to determine the collaborative transmission strategy and generate a decision result, wherein JCX is a decision vector, sigmoid(·) is a result mapping function that maps the result to [0, 1], α1 is a feature fusion dynamic indicator of the comprehensive priority, ReLU(·) is an invalid feature filtering function, Q is the number of types of multi-modal data, q is in the range of [1, Q], zt(·) is a high-dimensional feature extraction function, ms q is the qth type of multi-modal data, β cy is the scene priority weight, cj is the communication code corresponding to the scene label, ε is the data priority amplification coefficient, sy is the urgency of the data itself, χ is the bandwidth compression rate coupling factor, dk is the available bandwidth of the ground network monitored by the terminal in real time, δ is the time delay encryption strength gain, ws is the real-time transmission time delay of the satellite link, tanh(·) is a data compression rate adjustment function, α2 is a feature fusion dynamic indicator of the data compression rate, β cs is the scene compression adaptation coefficient, fd is the scene danger degree quantization value, φ is the energy consumption constraint attenuation coefficient, nh is the energy consumption threshold of the terminal, α3 is a feature fusion dynamic indicator of the encryption level, β cmis the energy consumption sensitivity coefficient of the scene, sx is the quantitative value of the data invalidity requirement, η is the normalized proportion coefficient of the resource demand, yx is the comprehensive priority, ys is the data compression rate, dc is the data volume, ns(·) is the energy consumption attenuation function, jm is the encryption level,

[0059] The preset cooperative communication decision core parameters include but are not limited to data priority, ground network available bandwidth, satellite link delay, terminal energy consumption threshold. The remote intelligent inspection terminal generates cooperative request content including terminal position information, total amount of data to be transmitted, data priority proportion information, terminal current power and cache pressure, expected link resource demand and the like according to the decision result and the collected multi-modal data, and sends the cooperative request and the content thereof to the satellite terminal through the short-distance wireless module.

[0060] Step S2, the satellite terminal feeds back available link resources, dynamically matches the remote intelligent inspection terminal position through the electronic beam forming technology of the phased array antenna, and automatically tracks the low-orbit satellite terminal trajectory;

[0061] Further, the satellite terminal feeds back available link resources, dynamically matches the remote intelligent inspection terminal position through the electronic beam forming technology of the phased array antenna, and automatically tracks the low-orbit satellite terminal trajectory, including the following sub-steps:

[0062] Step S21, the satellite terminal receives the cooperative request and feeds back available link resources;

[0063] Specifically, after receiving the cooperative request and the content thereof, the satellite terminal performs resource statistics according to the cooperative request content, and feeds back available link resources through the short-distance wireless module based on the statistical result. The available link resources include satellite link remaining time slot quantity, real-time available bandwidth, signal-to-noise ratio, bit error rate and the like.

[0064] Step S22, the electronic beam forming technology of the phased array antenna is used to dynamically match the remote intelligent inspection terminal position and automatically track the low-orbit satellite terminal trajectory;

[0065] Specifically, the satellite terminal starts the electronic beam forming technology of the phased array antenna, generates a terminal matching beam, and controls the beam based on the remote intelligent inspection terminal position information, weather interference parameters and the like beam constraint information through a beam dynamic matching control formula wherein, is the beam accurate adjustment vector value, wj(ζ,ψ,ξ) is an antenna attitude deviation correction matrix, ζ is a heading angle, ψ is a pitch angle, ξ is a roll angle, and ω is a beam forming gain coefficient, is the beam accurate adjustment vector value, wj(ζ,ψ,ξ) is an antenna attitude deviation correction matrix, ζ is a heading angle, ψ is a pitch angle, ξ is a roll angle, and ω is a beam forming gain coefficient, is the remote intelligent inspection terminal position vector, is the satellite position vector, is a straight-line distance between the terminal and the satellite, qx is a meteorological interference factor, qj is a meteorological parameter calibration factor, dr is an atmospheric disturbance spatial gradient vector, is a satellite tracking gain matrix, and w is an angular velocity tracking gain, ψ is a pitch angle velocity compensation coefficient, ξ is a roll angle velocity compensation coefficient, and s is a Doppler frequency shift compensation factor, is a satellite angular acceleration vector.

[0066] The terminal is matched with a beam based on the beam accurate adjustment vector value, the beam accurate adjustment vector value is used for accurately adjusting the terminal, dynamically matching a remote intelligent inspection terminal position, and realizing accurate signal coverage of the remote intelligent inspection terminal.

[0067] The attitude adjusting device is combined with the satellite in synchronization, real-time antenna pointing is corrected according to real-time orbit parameters of the low-orbit satellite, the low-orbit satellite terminal track is automatically tracked, signal deviation caused by high-speed movement of the satellite and terrain shielding is offset, and continuity and stability of signal transmission in a complex scene are ensured.

[0068] Step S3, a priority scheduling strategy of the multi-modal data is generated based on the determination decision result, a temporary encrypted channel is established through hardware-level encryption and dynamic frequency hopping technology, and data interaction is performed;

[0069] Further, the priority scheduling strategy of the multi-modal data is generated based on the determination decision result, the temporary encrypted channel is established through the hardware-level encryption and the dynamic frequency hopping technology, and the data interaction includes the following sub-steps:

[0070] Step S31, a priority scheduling strategy of the multi-modal data is generated based on the determination decision result;

[0071] Specifically, the multi-modal data is divided into emergency data and regular data of different priorities based on the determination decision result, high-bandwidth link resources are allocated to the emergency data according to the priority of the emergency data, a low-latency transmission channel is enabled, the regular data is sequentially scheduled according to a cache queue according to the priority of the regular data, and the regular data is transmitted in a link idle period or a low-priority channel to avoid occupying emergency resources, the priority scheduling strategy of the multi-modal data is generated, and the multi-modal data to be sent is sequentially packaged according to the priority scheduling strategy of the multi-modal data.

[0072] Step S32, a temporary encrypted channel is established through hardware-level encryption and dynamic frequency hopping technology, and data interaction is performed;

[0073] Specifically, the packaged multi-modal data is encrypted end-to-end through a hardware-level encryption algorithm, and at the same time, an anti-interference temporary encryption channel is established through a dynamic frequency hopping technology. The packaged and encrypted multi-modal data is transmitted in order through the temporary encryption channel according to a priority scheduling strategy of the multi-modal data, and the remote intelligent inspection terminal and the satellite terminal interact with each other.

[0074] Step S4, the satellite terminal verifies the data by calculating the on-board data quality confidence, and transmits the data back to the remote command platform through the low-orbit satellite;

[0075] Further, the satellite terminal verifies the data by calculating the on-board data quality confidence, and transmits the data back to the remote command platform through the low-orbit satellite, including the following sub-steps:

[0076] Step S41, the satellite terminal calculates the on-board data quality confidence of the data, and verifies the data;

[0077] Specifically, after receiving the data, the satellite starts the data verification mechanism, and based on the identity authentication mechanism and the access control strategy, the on-board dynamic space-time verification formula is used to verify the data The on-board data quality confidence of the received data is calculated, wherein XSZ is the on-board data quality confidence, is the security authentication layer dynamic weight, cs w is the control sensitivity, zq is the terminal identity certificate security strength index, ks w is the authentication confidence threshold, R is the number of data to be verified, the value range of r is [1, R], fw(·) is the access control indication function, sk r is the rth data to be verified, is the permission verification result, γ is the dynamic weight of the data integrity layer, jz yx is the effective data frame data, jz zs is the total data frame data, τ bit is the bit error rate, λ is the scene time decay parameter, △t is the time difference between data generation and reception, sp is the time decay constant, κ is the dynamic weight of the space-time verification layer, is the reported position vector, is the physical position vector of the remote intelligent inspection terminal, wb is the positioning error radius, Y is the number of satellite time delays, the value range of y is [1, Y], ly y is the yth satellite time delay, ll is the theoretical optimal satellite time delay. According to the on-board data quality confidence, the integrity, security, legality and other multi-dimensional data quality attributes of the received data are judged, and the verification result of the data is generated.

[0078] Step S42, based on the verification result, the data is transmitted back to the remote command platform through the low-orbit satellite;

[0079] Specifically, based on the verification result, the data passing the verification is encapsulated in batches according to the data type and priority, and a unique transmission identifier is attached to the data of different batches, and then the data is returned to the remote command platform through the low-orbit satellite link. During the return process, the link state is monitored in real time, and the data that fails the verification or exceeds the transmission time is marked as "to be retransmitted", and the data is preferentially retransmitted after the link is restored. The remote command platform receives the data in real time, stores it in the database after analysis, and triggers visual display.

[0080] Step S5, the remote intelligent inspection terminal performs adaptive link switching according to the moving trajectory, and the satellite terminal responds to the switching request in real time;

[0081] Further, the remote intelligent inspection terminal performs adaptive link switching according to the moving trajectory, and the satellite terminal responds to the switching request in real time, including the following sub-steps:

[0082] Step S51, the remote intelligent inspection terminal predicts network coverage changes according to the moving trajectory;

[0083] Specifically, the remote intelligent inspection terminal predicts the network coverage changes in the future preset time based on the built-in trajectory prediction algorithm, combined with the historical moving trajectory, the current travel speed and the inspection route planning, for example, about to enter from "strong network area" to "weak network area", or from the ground network coverage area to the non-coverage area.

[0084] Step S52, adaptive link switching is performed according to the predicted network coverage changes;

[0085] Specifically, when it is predicted that the current link quality will be lower than the threshold, the terminal automatically starts link switching preparation, pre-detects the signal strength, available bandwidth, delay and other parameters of the target link, reserves the cache space and computing power resources required for switching, and loads the target link communication protocol in advance, and then performs adaptive link switching, and sends a link switching request to the satellite terminal.

[0086] Step S53, the satellite terminal responds to the switching request in real time according to the link switched by the remote intelligent inspection terminal;

[0087] Specifically, the satellite terminal receives the link switching request of the inspection terminal in real time and responds immediately, confirms the request source through device identity authentication mechanism, verifies the request legality, releases the time slot or bandwidth occupied by the original link, reserves resources for the new link, adjusts the link resource allocation, renegotiates the session key, ensures that the data transmission after switching still maintains the encrypted state, updates the encryption channel parameters, through the above cooperative actions, realizes seamless link switching, avoids data transmission interruption, and ensures the continuity of inspection data transmission.

[0088] Embodiment two

[0089] As Figure 2As shown, the second embodiment of the present application provides a cooperative communication system based on a remote intelligent inspection terminal and a satellite terminal, comprising:

[0090] The remote intelligent inspection terminal data processing request sending module 21 collects multi-modal data in real time, synchronously monitors the running state indicators, generates a decision-making result through a dynamic cooperative decision-making algorithm, and sends a cooperative request to the satellite terminal;

[0091] Further, the remote intelligent inspection terminal data processing request sending module 21 comprises the following sub-modules:

[0092] The scene label generation sub-module 211 collects multi-modal data in real time, synchronously monitors the real-time running state indicators of the terminal, and generates a scene label;

[0093] The cooperative request sending sub-module 212 determines a cooperative transmission strategy based on multi-modal data, scene labels, and preset cooperative communication decision-making core parameters, generates a decision-making result through a dynamic cooperative decision-making algorithm, and sends a cooperative request to the satellite terminal;

[0094] The satellite terminal feedback tracking module 22 feeds back available link resources, dynamically matches the position of the remote intelligent inspection terminal through the electronic beamforming technology of the phased array antenna, and automatically tracks the trajectory of the low-orbit satellite terminal;

[0095] Further, the satellite terminal feedback tracking module 22 comprises the following sub-modules:

[0096] The cooperative request receiving link feedback sub-module 221 receives the cooperative request and feeds back available link resources;

[0097] The position positioning and tracking sub-module 222 dynamically matches the position of the remote intelligent inspection terminal through the electronic beamforming technology of the phased array antenna, and automatically tracks the trajectory of the low-orbit satellite terminal;

[0098] The data interaction module 23 generates a priority scheduling strategy for multi-modal data based on the decision-making result, establishes a temporary encrypted channel through hardware-level encryption and dynamic frequency hopping technology, and performs data interaction;

[0099] Further, the data interaction module 23 comprises the following sub-modules:

[0100] The data scheduling strategy generation sub-module 231 generates a priority scheduling strategy for multi-modal data based on the decision-making result;

[0101] The channel establishment data interaction sub-module 232 establishes a temporary encrypted channel through hardware-level encryption and dynamic frequency hopping technology, and performs data interaction;

[0102] The data verification and return module 24 verifies the data by calculating the on-board data quality confidence of the data and returns the data to the remote command platform through the low-orbit satellite;

[0103] Further, the data verification and return module 24 comprises the following sub-modules:

[0104] The data verification sub-module 241 verifies the data by calculating the on-board data quality confidence of the data by the satellite terminal;

[0105] The data return sub-module 242 returns the data to the remote command platform through the low-orbit satellite based on the verification result;

[0106] The link switching module 25 adaptively switches the link according to the moving track by the remote intelligent inspection terminal, and the satellite terminal responds to the switching request in real time;

[0107] Further, the link switching module 25 comprises the following sub-modules:

[0108] The network coverage change prediction sub-module 251 predicts the network coverage change according to the moving track by the remote intelligent inspection terminal;

[0109] The link switching sub-module 252 adaptively switches the link according to the predicted network coverage change;

[0110] The switching response sub-module 253 responds to the switching request in real time according to the switched link by the remote intelligent inspection terminal by the satellite terminal;

[0111] Corresponding to the above-mentioned embodiments, the embodiment of the present application provides a computer storage medium, comprising: at least one memory and at least one processor;

[0112] The memory is used for storing one or more program instructions;

[0113] The processor is used for running one or more program instructions to execute a cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal.

[0114] Corresponding to the above-mentioned embodiments, the embodiment of the present application provides a computer readable storage medium, and the computer storage medium comprises one or more program instructions, and the one or more program instructions are used for being executed by the processor to execute a cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal.

[0115] The embodiment disclosed by the present application provides a computer readable storage medium, and the computer readable storage medium stores computer program instructions, and when the computer program instructions are executed on the computer, the computer executes the above-mentioned cooperative communication method based on the remote intelligent inspection terminal and the satellite terminal.

[0116] In the embodiments of the present application, the processor can be an integrated circuit chip with a processing capability of signals. The processor can be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0117] The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed by using general purpose processors, which can be microprocessors or the processors can be any conventional processor or the like. The steps of the methods disclosed in conjunction with the embodiments of the present application can be directly embodied as hardware code of the processor or be executed by a combination of hardware and software modules in the processor. The software modules can be located in storage media such as random access memory (RAM), flash memory, read only memory (ROM), programmable read-only memory (PROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, or other mature storage media in the art. The processor reads information in the storage media and combines the hardware to execute the steps of the above methods.

[0118] The storage media can be a memory, for example, can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories.

[0119] The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory.

[0120] The volatile memory can be Random Access Memory (RAM), used as external cache memory. By way of example, and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The below-described embodiments do not limit the scope of the application to any particular RAM type.

[0121] The storage media described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable types of memory.

[0122] Those skilled in the art should be aware that the functions described in the embodiments of the present application can be implemented in combination of hardware and software in one or more of the above examples. When the software is applied, the corresponding functions can be stored in a computer readable medium or transmitted as one or more instructions or codes on the computer readable medium. The computer readable medium includes computer storage medium and communication medium, wherein the communication medium includes any medium facilitating the transmission of computer programs from one place to another. The storage medium can be any available medium accessible by a general or special purpose computer.

[0123] The above detailed description sets forth the purposes, technical solutions and beneficial effects of the present application. It should be understood that the above detailed description is only a specific embodiment of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made on the basis of the technical solutions of the present application should be included in the protection scope of the present application.

Claims

1. A method for cooperative communication based on a remote intelligent inspection terminal and a satellite terminal, characterized in that, Comprise: Step S1, the remote intelligent inspection terminal real-time acquisition multi-modal data, synchronous monitoring its running state index, through the dynamic collaborative decision algorithm generates the decision result, and sends the collaborative request to the satellite terminal; Step S2, the satellite terminal feedback available link resources, through the electronic beam forming technology of phased array antenna, dynamic matching remote intelligent inspection terminal position, and automatic tracking low earth orbit satellite terminal track; Step S3, based on the decision result generates the priority scheduling strategy of multi-modal data, through the hardware level encryption and dynamic frequency hopping technology, establishes the temporary encrypted channel, carries out the data interaction; Step S4, the satellite terminal calculates the on-board data quality confidence of data, and returns to the remote command platform through the low earth orbit satellite; Step S5, the remote intelligent inspection terminal carries out adaptive link switching according to the moving track, and the satellite terminal responds to the switching request in real time.

2. The method of claim 1, wherein the remote intelligent terminal and the satellite terminal are cooperative communication based. The remote intelligent inspection terminal real-time acquisition multi-modal data, synchronous monitoring its running state index, through the dynamic collaborative decision algorithm generates the decision result, and sends the collaborative request to the satellite terminal, comprising the following sub-steps: Step S11, the remote intelligent inspection terminal real-time acquisition multi-modal data, synchronous monitoring terminal real-time running state index, generates scene label; Step S12, based on multi-modal data, scene label and preset collaborative communication decision core parameter, through the dynamic collaborative decision algorithm, the collaborative transmission strategy is determined, the decision result is generated, and the collaborative request is sent to the satellite terminal.

3. The method of claim 1, wherein the remote intelligent terminal and the satellite terminal are cooperative communication terminals. The satellite terminal feedback available link resources, through the electronic beam forming technology of phased array antenna, dynamic matching remote intelligent inspection terminal position, and automatic tracking low earth orbit satellite terminal track, comprising the following sub-steps: Step S21, the satellite terminal receives the collaborative request, and feedback available link resources; Step S22, through the electronic beam forming technology of phased array antenna, dynamic matching remote intelligent inspection terminal position, and automatic tracking low earth orbit satellite terminal track.

4. The method of claim 1, wherein the remote intelligent terminal and the satellite terminal are cooperative communication based. Based on the decision result generates the priority scheduling strategy of multi-modal data, through the hardware level encryption and dynamic frequency hopping technology, establishes the temporary encrypted channel, carries out the data interaction, comprising the following sub-steps: Step S31, based on the decision result generates the priority scheduling strategy of multi-modal data; Step S32, through the hardware level encryption and dynamic frequency hopping technology, establishes the temporary encrypted channel, carries out the data interaction.

5. The method of claim 1, wherein the remote intelligent terminal and the satellite terminal are cooperative communication based on the remote intelligent terminal and the satellite terminal. The satellite terminal calculates the on-board data quality confidence of data, and returns to the remote command platform through the low earth orbit satellite, comprising the following sub-steps: Step S41, the satellite terminal calculates the on-board data quality confidence of data, and carries out the data verification; Step S42, based on the verification result, the data is returned to the remote command platform through the low earth orbit satellite.

6. A cooperative communication system based on a remote intelligent patrol terminal and a satellite terminal, characterized in that, Comprise: Remote intelligent inspection terminal data processing request sending module, the remote intelligent inspection terminal real-time acquisition multi-modal data, synchronous monitoring its running state index, through the dynamic collaborative decision algorithm generates the decision result, and sends the collaborative request to the satellite terminal; The satellite terminal feedback tracking module, the satellite terminal feedback available link resources, through the electronic beam forming technology of the phased array antenna, dynamically matches the remote intelligent inspection terminal position, and automatically tracks the low-orbit satellite terminal track; The data interaction module, based on the decision-making result, generates a priority scheduling strategy of multi-modal data, establishes a temporary encrypted channel through hardware-level encryption and dynamic frequency hopping technology, and performs data interaction; The data verification back transmission module, the satellite terminal verifies through calculating the on-board data quality confidence of the data, and transmits the data back to the remote command platform through the low-orbit satellite; The link switching module, the remote intelligent inspection terminal performs adaptive link switching according to the moving track, and the satellite terminal responds to the switching request in real time.

7. A cooperative communication system based on a remote intelligent inspection terminal and a satellite terminal according to claim 6, wherein, The remote intelligent inspection terminal data processing request sending module, specifically includes: The scene label generation sub-module, the remote intelligent inspection terminal collects multi-modal data in real time, synchronously monitors the real-time running state indicators of the terminal, and generates scene labels; The cooperative request sending sub-module, based on multi-modal data, scene labels and preset cooperative communication decision core parameters, determines the cooperative transmission strategy through a dynamic cooperative decision algorithm, generates a decision-making result, and sends a cooperative request to the satellite terminal.

8. The cooperative communication system based on a remote intelligent inspection terminal and a satellite terminal of claim 6, wherein, The satellite terminal feedback tracking module, specifically includes: The cooperative request receiving link feedback sub-module, the satellite terminal receives the cooperative request and feeds back the available link resources; The position positioning tracking sub-module, through the electronic beam forming technology of the phased array antenna, dynamically matches the remote intelligent inspection terminal position, and automatically tracks the low-orbit satellite terminal track.

9. The cooperative communication system based on a remote intelligent inspection terminal and a satellite terminal of claim 6, wherein, The data interaction module, specifically includes: The data scheduling strategy generation sub-module, based on the decision-making result, generates a priority scheduling strategy of multi-modal data; The channel establishment data interaction sub-module, through hardware-level encryption and dynamic frequency hopping technology, establishes a temporary encrypted channel, and performs data interaction.

10. The cooperative communication system based on a remote intelligent inspection terminal and a satellite terminal of claim 6, wherein, The data verification back transmission module, specifically includes: The data verification sub-module, the satellite terminal calculates the on-board data quality confidence of the data, and verifies the data; The data back transmission sub-module, based on the verification result, transmits the data back to the remote command platform through the low-orbit satellite.

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