Data interaction scheduling method and device based on low earth orbit satellite, and electronic equipment

Abstract

The invention provides a data interaction scheduling method and device based on a low earth orbit satellite and electronic equipment, and relates to the field of data processing. In the method, for concurrent scheduling of multiple evidence obtaining tasks, task priorities are calculated based on task criticality, a time window and response confidence, and a multi-stage scheduling queue is constructed; obtaining a low-orbit satellite constellation configuration, and establishing a directed graph structure of satellite nodes and links; searching multiple paths from the ship to the shore-based system and scoring to form a path scheduling table; dividing bandwidth areas according to task priorities and link bandwidth states, and constructing a bandwidth slice configuration table; through a path and bandwidth double-mapping strategy, a data interaction scheduling mechanism of evidence obtaining data uploading and control data issuing is realized. By implementing the technical scheme provided by the invention, the execution timeliness of the whole evidence obtaining task can be improved.

Description

Technical Field

[0001] This application relates to the technical field of data processing, specifically to a data interaction scheduling method, apparatus, and electronic equipment based on low-Earth orbit satellites. Background Technology

[0002] In scenarios involving concurrent evidence collection by multiple vessels, evidence collection equipment is typically integrated into the vessel platform and connected to a shipborne low-Earth orbit (LEO) satellite application terminal. This LEO satellite establishes a long-range communication link, enabling mission control and data exchange in offshore and cross-regional environments. Based on this network structure, the shore-based control system can transmit control data to designated vessel nodes via LEO satellite, controlling the operational status and evidence collection behavior of their equipment, while simultaneously receiving evidence collection data transmitted back from the equipment, achieving two-way data exchange.

[0003] However, under the aforementioned communication architecture, when the shore-based control system simultaneously faces the scheduling requirements of multiple concurrent ship evidence collection tasks, it needs to select multiple link paths and synchronously issue control commands in a dynamically changing constellation link environment. Due to the characteristics of low-Earth orbit satellite constellations, such as high real-time performance, short coverage windows, and limited link bandwidth, coupled with uneven load distribution between inter-satellite links and frequent instantaneous node congestion, under a link distribution mechanism without task awareness, problems such as cross-scheduling, path conflicts, or priority misalignment of control commands in link resource scheduling are very likely to occur. This can lead to high-priority tasks being blocked by low-priority commands, delayed response to critical targets, and affect the overall timeliness of the evidence collection task.

[0004] Therefore, there is an urgent need for a data interaction scheduling method, device, and electronic equipment based on low-Earth orbit satellites. Summary of the Invention

[0005] This application provides a data interaction scheduling method, apparatus, and electronic device based on low-Earth orbit satellites, which facilitates the improvement of the overall timeliness of evidence collection tasks.

[0006] The first aspect of this application provides a data interaction scheduling method based on low-Earth orbit (LEO) satellites. The method includes: acquiring multiple forensic task scheduling requests; calculating corresponding task priority weights based on task criticality indicators, task time windows, and target historical response confidence levels in each forensic task scheduling request, and classifying all forensic tasks according to the task priority weights to form a multi-level task priority scheduling queue; acquiring the LEO satellite constellation configuration and constructing a directed graph structure containing satellite nodes and satellite links; for each ship node to which the forensic task belongs, searching multiple candidate link paths from the ship node to the shore-based control system node in the directed graph structure, and determining the path based on link load indicators and path availability. The candidate link paths are scored using inter-window metrics and link resource guarantee metrics to form a path scheduling table. Based on the multi-level task priority scheduling queue and the bandwidth status of link nodes in the current low-Earth orbit satellite constellation, the satellite link bandwidth resources are divided into multiple bandwidth regions, each bandwidth region is bound to a task priority level, and a bandwidth slice configuration table is constructed. Based on the path scheduling table and the bandwidth slice configuration table, a bidirectional mapping data interaction strategy is adopted to upload the evidence collection data generated by the ship node to the shore-based control system node through the link path determined by the path scheduling table, and to send the control data generated by the shore-based control system node to the ship node after resource allocation through the bandwidth slice configuration table.

[0007] A second aspect of this application provides a data interaction scheduling device based on low-Earth orbit (LEO) satellites. The device includes an acquisition module and a processing module. The acquisition module is used to acquire multiple evidence collection task scheduling requests. The processing module is used to calculate the corresponding task priority weight based on the task criticality index, task time window, and target historical response confidence level in each evidence collection task scheduling request, and to classify all evidence collection tasks according to the task priority weight to form a multi-level task priority scheduling queue. The acquisition module is also used to acquire the LEO satellite constellation configuration and construct a directed graph structure containing satellite nodes and satellite links. The processing module is also used to search for multiple candidate link paths from the ship node to the shore-based control system node in the directed graph structure for each ship node to which the evidence collection task belongs. The processing module scores the candidate link paths based on link load indicators, path availability time window indicators, and link resource guarantee indicators to form a path scheduling table. The processing module is also used to divide satellite link bandwidth resources into multiple bandwidth regions based on the multi-level task priority scheduling queue and the bandwidth status of link nodes in the current low-Earth orbit satellite constellation. Each bandwidth region corresponds to a task priority level, and a bandwidth slice configuration table is constructed. Furthermore, based on the path scheduling table and the bandwidth slice configuration table, the processing module uses a bidirectional mapping data interaction strategy to upload the evidence collection data generated by the ship node to the shore-based control system node through the link path determined by the path scheduling table, and to distribute the control data generated by the shore-based control system node to the ship node after resource allocation through the bandwidth slice configuration table.

[0008] A third aspect of this application provides an electronic device including a processor, a memory, a user interface, and a network interface. The memory is used to store instructions, and both the user interface and the network interface are used to communicate with other devices. The processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method described above.

[0009] A fourth aspect of this application provides a computer-readable storage medium storing instructions that, when executed, perform the method described above.

[0010] In summary, one or more technical solutions provided in this application have at least the following technical effects or advantages:

[0011] 1. By constructing a scheduling logic driven by task priority weights, combined with directed graph modeling of low-Earth orbit satellite constellations, path scoring and scheduling table construction, bandwidth resource allocation according to priority level, and bidirectional data interaction strategy, an end-to-end data interaction scheduling system with task awareness capability is formed. This system can effectively solve link resource conflicts, control command misordering, and critical task response delays in multi-ship concurrent evidence collection scenarios, significantly improving the overall timeliness of evidence collection tasks under dynamic link changes.

[0012] 2. By introducing task criticality indicators, time urgency indicators, and target historical response confidence, a task priority weight system is constructed and mapped to a multi-level scheduling hierarchy. This establishes a task-driven scheduling and sorting logic, providing a basis for subsequent resource allocation and solving the problem of delayed response to critical tasks caused by indiscriminate task scheduling in existing technologies.

[0013] 3. Based on the dual-table joint scheduling logic of path scheduling table and bandwidth slicing configuration table, the tasks of uploading evidence data and distributing control data are executed in different directions. A sliding window scheduling mechanism and a path switching mechanism are introduced to improve the timeliness, orderliness and robustness of link transmission. Attached Figure Description

[0014] Figure 1 A flowchart illustrating a data interaction scheduling method based on low-Earth orbit satellites provided in this application embodiment;

[0015] Figure 2 A schematic diagram of a data interaction scheduling device based on low-Earth orbit satellites provided in this application embodiment;

[0016] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0017] Explanation of reference numerals in the attached figures: 21. Acquisition module; 22. Processing module; 31. Processor; 32. Communication bus; 33. User interface; 34. Network interface; 35. Memory. Detailed Implementation

[0018] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0019] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0020] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0021] In scenarios involving concurrent evidence collection by multiple vessels, evidence collection equipment is typically integrated into the vessel platform and connected to a shipborne low-Earth orbit (LEO) satellite application terminal. This LEO satellite serves as a relay to establish a remote communication link, supporting efficient interaction between mission control and evidence collection data in offshore or cross-regional environments. With this network structure, the shore-based control system can precisely transmit control data to target vessel nodes via LEO satellites, enabling remote control of the evidence collection equipment's status and mission behavior. Simultaneously, it can receive evidence collection data generated by the equipment, establishing a two-way data flow path.

[0022] However, under this communication architecture, when the shore-based control system simultaneously schedules concurrent tasks of multiple ship nodes, it faces the complexity of path selection and the uncertainty of scheduling timing caused by the dynamic changes in the low-Earth orbit satellite constellation link configuration. Due to the short coverage window of low-Earth orbit satellites, limited satellite-to-ground link bandwidth, uneven distribution of inter-satellite link load, and frequent instantaneous congestion between nodes, if there is no link resource regulation mechanism based on task priority, command conflicts, path overlaps, or scheduling chaos are likely to occur in the concurrent scheduling of multiple tasks. This can cause low-priority tasks to preempt link resources for critical task control data, leading to target response delays and decreased task execution efficiency, which seriously restricts the scheduling robustness and timeliness guarantee capability of the system in high-density task environments.

[0023] To address the aforementioned technical problems, this application provides a data interaction scheduling method based on low-Earth orbit satellites, referring to... Figure 1 , Figure 1This is a flowchart illustrating a data interaction scheduling method based on low-Earth orbit satellites, provided in an embodiment of this application. The method is applied to a server and includes steps S110 to S160, as follows:

[0024] S110: Obtain multiple evidence collection task scheduling requests.

[0025] Specifically, a server refers to an information processing unit deployed within a shore-based control system or on a low-Earth orbit satellite node, possessing high reliability, continuous operation capabilities, and multi-threaded concurrent processing capabilities. It typically undertakes functions such as external communication, task management, resource allocation, and status monitoring. In this scenario, the server is primarily used to receive and process scheduling requests from multiple task sources, organize scheduling logic, and coordinate the interaction between the low-Earth orbit satellite link and the ship node. For example, the data control server deployed in the command center can receive multiple evidence collection instructions from the command system via the satellite ground access station, such as: "Within the area designated A17, initiate the target image acquisition task for ship U1." Acquisition indicates that the server actively receives or passively listens to data packets or scheduling information sent by external systems or higher-level command systems. This process is typically implemented through standardized interfaces, communication protocols, or message buses to ensure that task scheduling information can be promptly identified, parsed, and cached in the system scheduling module.

[0026] An evidence collection task refers to a data acquisition task issued to a target sea area, target object, or specific event, which needs to be completed using evidence collection equipment (such as cameras, radar, infrared, or multispectral sensors) on board the vessel. Each evidence collection task typically includes parameters such as target identification, evidence collection method, task start and end times, evidence collection priority, and data transmission requirements. For example, Task T3 requires vessel U5 to capture visible light and thermal infrared images in the latitude and longitude region N23-E118 between 17:00 and 17:15 Beijing time to identify the tracks of illegal vessels. A scheduling request is a request sent by the task initiator to the server to allocate resources (such as communication links, bandwidth, and paths) for a specific evidence collection task and to execute the task execution control. It typically includes task parameters, execution nodes, resource requirements, and task level fields. The scheduling request is the input data for the entire scheduling system, determining the starting point for a series of operations such as link scheduling, path planning, and bandwidth allocation. For example, the scheduling request R7 contains the following information: Task number T3, target vessel U5, evidence type: multispectral image, task time window: 17:00–17:15, task level: high, and maximum data return delay: 20 seconds.

[0027] S120. Based on the task criticality index, task time window and target historical response confidence in each evidence collection task scheduling request, calculate the corresponding task priority weight, and classify all evidence collection tasks according to the task priority weight to form a multi-level task priority scheduling queue.

[0028] Specifically, the task criticality index measures the importance of the evidence collection task to situational awareness, event reconstruction, or decision support within the overall evidence collection task system. This index can be assigned a value based on factors such as command level, event level, and target sensitivity, and is typically scored numerically. Example: Task D5, a patrol task in sensitive national border waters, is assigned a criticality index of 0.95 (out of 1.0); in contrast, a typical environmental monitoring task might only have a criticality index of 0.4. The task time window refers to the time interval within which the task is required to be completed, typically including the start and end times, reflecting the urgency of the task's scheduling. The system can quantify the task's time pressure by calculating the overlap between the current time and the task window or the remaining schedulable time. Example: Task D6 requires image acquisition between 17:30 and 17:40, and the current time is 17:25, leaving only 5 minutes, classifying it as a high-urgency task. Target historical response confidence reflects the system's reliability in responding to this type of target in historical scheduling, and is typically calculated based on statistical indicators such as historical task success rate, response latency, and transmission integrity. This metric characterizes whether the current system has a stable response capability to the target. Example: If target number T102 has been successfully completed 8 out of the past 10 scheduling attempts, with an average return latency of less than 15 seconds, then the confidence level can be rated above 0.8; if there are frequent interruptions or packet loss, the confidence level is low.

[0029] Task priority weight is a quantitative indicator obtained by weighting and fusing task criticality indicators, task time window urgency indicators, and target historical response confidence. It is used to establish comparable priority levels among multiple tasks. Example: Assigning values ​​of 0.95, 0.9, and 0.85 to the three indicators of task D5 respectively, and using weighting coefficients of 0.5, 0.3, and 0.2, the resulting priority weight is 0.925. Level classification refers to classifying all scheduled tasks based on their priority weights, generally into high priority, medium priority, and low priority, and prioritizing the scheduling response of high-priority tasks during resource allocation. Example: Setting weight thresholds of 0.8, 0.6, and 0.4, task D5 with a weight of 0.925 is classified as high priority, and task D8 with a weight of 0.58 is classified as medium priority. A multi-level task priority scheduling queue is an ordered task execution queue formed by classifying all forensic tasks according to their priority levels. It is used for layered execution during path scheduling, bandwidth resource allocation, and link priority scheduling, ensuring that critical tasks have high responsiveness under system load. Example: In the current scheduling cycle, the high-priority queue Q1 contains tasks D5 and D7; the medium-priority queue Q2 contains tasks D8 and D10; and the low-priority queue Q3 contains tasks D12 and D14.

[0030] In one possible implementation, based on the task criticality index, task time window, and target historical response confidence level in each evidence collection task scheduling request, the corresponding task priority weight is calculated, and all evidence collection tasks are classified according to the task priority weight to form a multi-level task priority scheduling queue. Specifically, this includes: normalizing the task criticality index, task time window, and target historical response confidence level to obtain standardized task criticality index, standardized time urgency index, and standardized target response confidence level index; using a weighted linear combination function to perform a weighted summation of the standardized task criticality index, standardized time urgency index, and standardized target response confidence level index to obtain the task priority weight; comparing the multiple task priority weights with multiple preset task priority level thresholds to classify all evidence collection tasks into high-priority task sets, medium-priority task sets, and low-priority task sets, and forming a multi-level task priority scheduling queue according to the priority level.

[0031] Specifically, firstly, for each evidence collection task scheduling request, three types of scheduling evaluation parameters are extracted: task criticality index, task time window, and target historical response confidence. The task criticality index measures the strategic importance of the task within the overall scheduling system, such as whether the target is involved in illegal activity detection, boundary patrol, or emergency response. The task time window represents the time constraint of the scheduling; the shorter the remaining time between the current moment and the deadline, the higher the scheduling urgency. The target historical response confidence represents the scheduling reliability and response success rate demonstrated by the target in past scheduling. To ensure the comparability of different evaluation parameters, the above three parameters need to be normalized so that they are all mapped to the numerical range of 0, 1. If the original task criticality index is K, its normalized value is denoted as... If the current time is t now The task ends at time t. end The maximum allowable time window span is ΔT max Then the normalized index of time urgency The calculation formula is:

[0032]

[0033] If a target has successfully responded r times in the past n scheduling attempts, then the target's historical response confidence is: Three standardized scheduling metrics were ultimately obtained.

[0034] Next, a weighted linear combination function is used to fuse the standardized scheduling indices and calculate the task priority weights. Let the weight coefficients be ω1, ω2, and ω3, satisfying ω1 + ω2 + ω3 = 1. Then, the formula for calculating the task priority weight κ is as follows:

[0035]

[0036] Among them, ω1 reflects the system's emphasis on the criticality of the task, ω2 controls the focus on the timeliness of task scheduling, and ω3 reflects the consideration of the feasibility of the target execution. For example, setting ω1 = 0.5, ω2 = 0.3, and ω3 = 0.2, if a certain task's... Its priority weight is:

[0037] κ=0.5×0.9+0.3×0.8+0.2×0.6=0.81

[0038] Next, based on the task priority weight set calculated from all tasks, the system compares it with multiple preset priority level thresholds to complete the level classification. Setting the priority thresholds as π1 = 0.8, π2 = 0.6, and π3 = 0.4, when κ ≥ π1, the task is classified into the high-priority task set; when π2 ≤ κ < π1, it is classified into the medium-priority task set; and when π3 ≤ κ < π2, it is classified into the low-priority task set. Taking the priority weight κ = 0.81 as an example, since it is higher than π1 = 0.8, this task is classified into the high-priority task set.

[0039] Finally, all the classified forensic tasks are sorted from highest to lowest priority, constructing a multi-level task priority scheduling queue. During subsequent path scheduling, link resource allocation, and data interaction control, the scheduling system will prioritize tasks from the high-priority task set, thus ensuring that critical tasks have priority response capabilities under limited communication resources. This scheduling queue structure ensures that the scheduling strategy is coupled with task awareness, timeliness, and historical reliability, achieving structural control over scheduling priority.

[0040] S130. Obtain the low-Earth orbit satellite constellation configuration and construct a directed graph structure containing satellite nodes and satellite links.

[0041] Specifically, the low-Earth orbit (LEO) satellite constellation configuration refers to the physical distribution and link connectivity of all LEO satellites at a given moment. This includes the spatial location of each satellite (orbital parameters, latitude and longitude of its nadir), orbital level (inclination, altitude), inter-satellite link configuration (whether laser or radio frequency links are established), and visibility and reachability to ground nodes. This configuration is dynamic and determines the current schedulable communication resource structure. For example, at a given moment, the server identifies "Tianlian-1-02," "Hongyan Constellation-5," and "Xingwang-12" as being over the eastern Pacific Ocean, with stable inter-satellite link connections between them. "Xingwang-12" can establish downlinks with shore-based nodes. A satellite node, in the context of graph structure construction, refers to each schedulable LEO satellite in orbit as a node in the graph structure. Each node carries its unique identifier (such as constellation number), spatial location, and communication status. Satellite nodes are the basic building blocks of the graph structure, representing relay points in communication scheduling paths. For example, the "7th satellite of the Hongyan constellation" enters the mission scheduling window at the current moment. Its node identifier is HY-7, and its node attributes include the latitude and longitude of the nadir point N22E121, altitude 550km, and current link occupancy rate of 60%.

[0042] A satellite link refers to a data transmission channel established between satellite nodes, divided into inter-satellite links (satellite to satellite) and satellite-to-ground links (satellite to shore-based control systems or ship nodes). Links have attributes such as directionality, bandwidth, propagation delay, and availability time, used to assess communication feasibility and path cost. For example, a stable laser link exists between HY-7 and HY-8, pointing from HY-7 to HY-8, with a current bandwidth of 50 Mbps and a delay of 8 ms. A directed graph structure is a topological graph model consisting of a set of nodes (satellite nodes) and a set of edges (satellite links), with defined edge directions. Each directed edge points from one satellite node to another and carries link attributes. This graph structure supports operations such as path search, score calculation, path switching, and resource scheduling, serving as the fundamental data structure for scheduling algorithms and path planning. For example: The graph structure contains a set of nodes {HY-7, HY-8, StarNet-12, shore-based node A} and a set of edges {HY-7→HY-8, HY-8→StarNet-12, StarNet-12→shore-based node A}, where each edge is accompanied by bandwidth, load and latency information.

[0043] In one possible implementation, the low-Earth orbit (LEO) satellite constellation configuration is obtained, and a directed graph structure containing satellite nodes and satellite links is constructed. Specifically, this includes: obtaining operational status information of the LEO satellite constellation, including satellite number, three-dimensional orbital parameters, latitude and longitude of the nadir point, visible area boundary, inter-satellite link configuration status, and satellite-to-ground link reachability status; defining each LEO satellite capable of participating in data relay within the current scheduling cycle as a satellite node based on the operational status information, thus obtaining a set of satellite nodes; constructing a set of directed links between each satellite node based on the inter-satellite link configuration status and satellite-to-ground link reachability status, with each directed link including additional attributes such as remaining communication bandwidth, link stability coefficient, hop cost, inter-satellite distance, link propagation delay, and payload occupancy rate; and combining the set of satellite nodes and the set of directed links to construct a satellite constellation configuration graph structure under the current scheduling cycle, generating a directed graph structure.

[0044] Specifically, firstly, the scheduling server obtains the operational status information of the low-Earth orbit satellite constellation within the current scheduling cycle through the satellite interface service module. This operational status information is provided by the satellite ground control system or the space orbit calculation system and includes the unique satellite number of each low-Earth orbit satellite, three-dimensional orbital parameters (including orbital inclination, right ascension of the ascending node, argument of perigee, semi-major axis, etc.), latitude and longitude coordinates of the nadir point, the boundary of the visible area covering the Earth's surface (expressed in polygon coordinates or coverage radius), the current inter-satellite link configuration status (including link establishment status and link availability), and the satellite-to-ground link reachability status (whether it is visible, whether it can communicate, and the start and end times of the communication window, etc.). For example, the satellite numbered "LQ-103" currently has an orbital inclination of 97.6 degrees and an orbital altitude of 500 km. Its nadir point is located at N23°E121°, with a visible radius of 750 km. It has inter-satellite link reachability with "LQ-104" and can currently establish a satellite-to-ground communication link with the shore-based node A.

[0045] Subsequently, based on the acquired operational status information, the server filters out low-Earth orbit satellites that possess communication capabilities, stable links, and overlapping coverage areas with the mission area within the current scheduling cycle. These are defined as satellite nodes, forming a satellite node set. Each satellite node is identified by its unique number and includes attribute information such as its three-dimensional orbital parameters, current position coordinates, mission scheduling status, and current available link status. For example, if satellite "LQ-103" has a visible window with the mission target area during this period and its link load is low, it will be included in the satellite node set.

[0046] Next, based on the inter-satellite link configuration status and satellite-to-ground link reachability status, a set of directed links between satellite nodes is constructed. Each link points from one satellite node to another, or from one satellite node to a ground node. Additional link attributes include: remaining communication bandwidth (in Mbps), link stability coefficient (representing the complement of the link outage probability in the interval 0,1), hop cost (weighted in path planning), inter-satellite distance (Euclidean distance calculated from the coordinates of the two satellites), link propagation delay (derived by dividing the distance by the electromagnetic wave propagation speed), and current load occupancy (the percentage of total bandwidth used by the link). For example, a link from "LQ-103" to "LQ-104" has a remaining bandwidth of 40 Mbps, a stability of 0.92, a hop cost of 1, a distance of 860 km, and a propagation delay of:

[0047]

[0048] Where d = 860 * 10 3 meters, c = 3 * 10 8 If the speed is meters per second, the propagation delay is approximately 2.87 milliseconds.

[0049] Finally, the constructed set of satellite nodes and the set of directed links are combined to generate the satellite constellation configuration graph structure for the current scheduling period, denoted as graph structure G = (V, E), where V is the set of satellite nodes and E is the set of directed links. Each node retains its spatial coordinates, visible area, and link status in the graph, and each edge carries complete link attributes. This graph structure is used to support subsequent path search, link scoring, and scheduling path construction. For example, the graph contains nodes {LQ-101, LQ-102, LQ-103} and edges {LQ-101→LQ-102, LQ-102→LQ-103}, with each edge having a computable link score. This score is used by the scheduling system to dynamically match the optimal data transmission path in a multi-task environment, ensuring the reachability, stability, and timeliness of task links.

[0050] S140. For each ship node to which the certification task belongs, search for multiple candidate link paths from the ship node to the shore-based control system node in the directed graph structure. Score the candidate link paths based on the link load index, the path availability time window index and the link resource guarantee index to form a path scheduling table.

[0051] Specifically, the ship node to which the forensics task belongs refers to which ship platform is responsible for executing the currently scheduled forensics task. This ship node is both the task execution unit and the data source and receiver of the satellite communication link. In the graph structure, this node is typically abstracted as a ground terminal node, and its location information determines the upper-planet-to-ground links it can access. Example: Task T1 is executed by ship node U3, whose current position is N22.5°E121.7°, within the coverage area of ​​satellites LQ-101 and LQ-102. The directed graph structure is a graph structure constructed based on the current low-Earth orbit satellite constellation configuration. Each node represents a satellite or ground node, and each edge represents a directional communication link (including inter-satellite links and satellite-to-ground links), with added link attributes such as bandwidth, stability, and propagation delay. This structure is used to support path search and link evaluation operations. Example: The graph structure G contains a set of nodes {U3, LQ-101, LQ-102, LQ-103, ground station A}, and an edge set including {U3→LQ-101, LQ-101→LQ-102, LQ-102→ ground station A}, etc.

[0052] Searching for multiple candidate link paths from a ship node to a shore-based control system node means that the system needs to find a set of feasible paths from a given ship node to the destination node (shore-based control system) based on a graph structure, by traversing all possible combinations of link paths. This is typically achieved using constrained depth-first search, A* algorithm, or K-shortest path algorithm. Example: From U3 to ground station A, there may be three candidate paths: Path 1: U3→LQ-101→LQ-104→Ground station A; Path 2: U3→LQ-102→LQ-105→LQ-108→Ground station A; Path 3: U3→LQ-101→LQ-103→Ground station A. Link load metrics are used to quantify the current bandwidth occupancy of a link, reflecting its congestion status. They are generally expressed as a percentage (the ratio of used bandwidth to total bandwidth). The load of all links in a path can be combined into an average or maximum value as the path metric. Example: The current load of the LQ-101→LQ-104 link in path 1 is 75%. The overall link load index of the path is the weighted average of the link loads within the path. If all links have equal weights, then it is the average value.

[0053] The path availability time window metric measures the range of link availability within a future scheduling cycle. It is typically the intersection of the time windows of all links on the path, reflecting the communication feasibility of the entire path within the task time window. Example: If the available times for each link in path 2 are 10:05–10:20, 10:10–10:25, and 10:00–10:15, the intersection is 10:10–10:15, a total of 5 minutes; this value is the path availability time window metric. The link resource guarantee metric represents the minimum remaining communication bandwidth value for all links in the path, reflecting whether the path has the most basic transmission capability for task data packets. It is used to ensure that data will not "get stuck" at any intermediate link node. Example: If the remaining bandwidths of all links in path 3 are 40Mbps, 30Mbps, and 25Mbps, then the path's link resource guarantee metric is 25Mbps. Path scoring is the result of a quantitative evaluation of the comprehensive performance of candidate paths. It integrates the link load metric, the path availability time window metric, and the link resource guarantee metric through a linear weighting function. The path scheduling table is a structured data table output by the scheduling engine, used to record the optimal or alternative link paths for each forensics task. Each entry includes: task identifier, ship node identifier, path link sequence, attributes of each link, path score, and path effective time window. Subsequent bandwidth configuration, command distribution, and data forwarding are all based on this table.

[0054] For each task, the system scheduling engine searches for multiple feasible uplink paths from its corresponding ship node to the shore-based control system node, based on the current constellation structure. Then, it quantitatively scores each path based on its link congestion level, window availability, and bandwidth guarantee capability, selecting the optimal path and recording the results in the path scheduling table. This provides a deterministic link foundation for subsequent bandwidth allocation and data scheduling. This process is a crucial step in enabling the scheduling system to achieve task awareness and resource adaptability.

[0055] In one possible implementation, for each ship node to which the evidence collection task belongs, multiple candidate link paths from the ship node to the shore-based control system node are searched in the directed graph structure. The candidate link paths are scored based on link load indicators, path availability time window indicators, and link resource guarantee indicators to form a path scheduling table. Specifically, this includes: determining the starting node set for the path search based on the reachability status of the satellite-to-ground links between the ship node and visible satellite nodes in the directed graph structure; determining the ending node for the path search based on the position of the shore-based control system node in the directed graph structure; and using a constrained depth-first search algorithm, multiple paths from the starting node to the ending node are searched under the conditions of satisfying path hop count constraints and link availability constraints. Candidate link paths are selected to form a candidate path set. For each candidate link path in the candidate path set, a link load index, a path availability time window index, and a link resource guarantee index are calculated, and a path score is obtained. The link load index is the weighted average of the current load occupancy of all links in the path, the path availability time window index is the intersection duration of the availability time windows of all links, and the link resource guarantee index is the minimum remaining bandwidth of all links in the path. The candidate path set is sorted according to the path score, and multiple candidate paths that meet the preset conditions are selected to construct a path scheduling table. The path scheduling table is used to record the evidence collection task identifier, the ship node identifier, the link path sequence, and the path score result.

[0056] Specifically, firstly, for each evidence collection task, the scheduling server determines the set of satellite nodes to which the ship node belongs, based on the geographical location information of the ship node to which the task belongs, combined with the directed graph structure generated by the current low-Earth orbit satellite constellation configuration. Specifically, by determining whether the ground coordinates of each satellite node fall within the communication line of sight of the ship node at the current moment, and further verifying the channel availability of the satellite-to-ground link and whether the communication window covers the current task time period, all satellite nodes meeting the conditions are added to the starting node set for path search. For example, if task T1 is bound to ship node U3, and U3 is currently within the coverage area of ​​satellites LQ-101 and LQ-103, and both have satellite-to-ground communication capabilities within the scheduling period, then the starting node set is {LQ-101, LQ-103}.

[0057] Secondly, based on the position of the shore-based control system nodes in the directed graph structure, the termination node for path searching is determined. Typically, shore-based control system nodes are abstracted as fixed ground terminal nodes in the graph structure, marked as having downlink receiving capability in the satellite-to-ground link status. The scheduling server uniquely locates this termination node in the graph based on its number or coordinate identifier. For example, the shore-based node number is GS-1, and it is identified as the termination node Vg in the graph. Next, starting from each starting node in the set of starting nodes, a restricted depth-first search algorithm is used to search for all feasible link paths from the starting node to the termination node, under the conditions of satisfying the path hop count limit and link availability constraint, thus constructing a candidate path set. The path hop count limit is typically used to prevent excessively long paths from causing cumulative transmission delays or reliability degradation, while the link availability constraint is used to exclude links that do not have transmission capability within the current scheduling window. For example, with a maximum hop count of 4, any link in the path must have a remaining bandwidth of no less than 10Mbps and the communication window must cover the current task time period, the following candidate path set is finally obtained: P1: LQ-101→LQ-105→GS-1; P2: LQ-103→LQ-106→LQ-108→GS-1.

[0058] Then, for each path in the candidate path set, the link load metric, path availability time window metric, and link resource guarantee metric are calculated sequentially. The link load metric is the weighted average of the current load occupancy rates of all links in the path, denoted as F, and its calculation formula is:

[0059]

[0060] Where, ρ i w represents the current load occupancy of the i-th link in the path. i The weight of the link (which can be a function of attributes such as bandwidth and latency) is n, and the total number of links in the path is n.

[0061] The available time window metric for a path is the duration of the intersection of the available time windows of all links in the path, denoted as W.

[0062]

[0063] in, and These represent the available start time and end time of the i-th link, respectively.

[0064] The link resource guarantee index is the minimum remaining communication bandwidth of all links in the path, denoted as B, that is:

[0065]

[0066] Among them, b iThis represents the remaining bandwidth of the i-th link.

[0067] Subsequently, based on the above three indicators, the path score S is calculated using the following weighted linear combination function:

[0068] S=α·(1-F)+β·W+γ·B

[0069] Where α, β, and γ are preset scheduling strategy weight coefficients, satisfying α+β+γ=1.

[0070] For example, for path P2, if F = 0.6, W = 300 seconds, B = 25 Mbps, and let α = 0.4, β = 0.4, γ = 0.2, then:

[0071] S=0.4·(1-0.6)+0.4·300+0.2·25=0.16+120+5=125.16

[0072] Finally, the candidate path set is sorted according to the path score, and the top K paths with scores greater than the system's set threshold are selected first to construct a path scheduling table. Each record includes: task identifier, ship node identifier, link path sequence, and path score. The path scheduling table serves as the basis for subsequent bandwidth allocation and data interaction scheduling, ensuring that each task completes link scheduling based on the optimal performance path. For example, the scheduling table record is as follows: Task number: T1; Ship node: U3; Link path: LQ-103→LQ-106→LQ-108→GS-1; Path score: 125.16; Effective time window: 10:05–10:15. This technical solution achieves optimal link path selection driven by tasks, and by combining link load, availability, and assurance capabilities, it improves the overall assurance level of the scheduling system for resource utilization efficiency and critical task response capabilities.

[0073] S150. Based on the multi-level task priority scheduling queue and the bandwidth status of the link nodes in the current low-Earth orbit satellite constellation, the satellite link bandwidth resources are divided into multiple bandwidth regions. Each bandwidth region is bound to a task priority level, and a bandwidth slice configuration table is constructed.

[0074] Specifically, a multi-level task priority scheduling queue refers to a scheduling order set divided into levels according to the priority weight of each forensic task. It typically includes high-priority queues, medium-priority queues, and low-priority queues, used to reflect scheduling level differences during resource allocation. Example: The queue structure is as follows: High-priority queues: Tasks T1, T4; Medium-priority queues: Tasks T2, T5; Low-priority queues: Tasks T3, T6. In a low-Earth orbit (LEO) satellite constellation, a link node refers to a data relay node currently participating in the scheduling task, i.e., the link terminal corresponding to the satellite node in the satellite constellation configuration diagram, possessing uplink or downlink communication capabilities. Each link node has status information such as dynamic bandwidth, link stability, and link load, and is the actual control point of bandwidth resources during the scheduling process. Example: Satellite node LQ-101 has 3 inter-satellite links and 1 satellite-to-ground link in the graph structure. Its link node attributes include a currently available bandwidth of 60 Mbps and a link occupancy rate of 35%.

[0075] Bandwidth status refers to the bandwidth availability of each link node within the current scheduling cycle. It is typically presented as remaining communication bandwidth, bandwidth utilization, and bandwidth stability, used to determine the node's resource adjustability in task scheduling. Example: A link node's current bandwidth status is: total bandwidth 80Mbps, used 40Mbps, remaining bandwidth 40Mbps, and stability 0.92. Satellite link bandwidth resource allocation refers to logically dividing the bandwidth resource pool of all link nodes according to a certain strategy, reserving them for different task priority levels to form bandwidth regions, thereby realizing a task-driven bandwidth resource isolation and control mechanism. Example: Total bandwidth resource is 200Mbps, divided as follows: High-priority bandwidth region: 80Mbps, medium-priority bandwidth region: 70Mbps, low-priority bandwidth region: 50Mbps. A bandwidth region refers to a logically divided bandwidth sub-region. Each region is dedicated to meeting the communication bandwidth of a specific priority level scheduling request and has independent allocation rules, scheduling thresholds, and usage strategies. Example: The high-priority bandwidth region is bound to a weight coefficient θ1 = 0.5, allowing it to preferentially occupy other levels of bandwidth under congestion conditions.

[0076] Task priority level binding refers to binding each bandwidth region to a corresponding task priority level after bandwidth allocation, thereby controlling bandwidth usage permissions. High-priority tasks can only schedule resources in high-priority bandwidth regions. Example: Task T1 belongs to a high-priority queue; the scheduling system only allows it to request resources from the Z1 bandwidth region and prohibits it from scheduling lower-priority bandwidth across levels. The bandwidth slice configuration table is a data structure table generated by the scheduling server to control scheduling permissions, bandwidth usage, and link matching. Indexed by link nodes, it records each node's currently allocated bandwidth region, bound task priority levels, current bandwidth remaining, allocated bandwidth, and link load information. This table is used to determine in real-time whether scheduling requests can be satisfied during path scheduling and data distribution. Example: The entry for a link node LQ-102 in the bandwidth slice configuration table is as follows: Bandwidth Region: Z1 (High Priority); Remaining Bandwidth: 18Mbps; Current Task Level: High; Bound Tasks: T1, T4; Scheduleable Status: Yes.

[0077] After completing task priority sorting and link node status acquisition, the server divides satellite link bandwidth resources into multiple bandwidth regions based on the scheduling requirements of each task level and the total link bandwidth, using weighting coefficients and task proportion strategies. Each region is then bound to a specific task priority level. Subsequently, a bandwidth slice configuration table is generated to constrain the path selection and resource call behavior of each task, ensuring that the task priority level can be accurately reflected and executed in link scheduling, thereby achieving task-level bandwidth resource isolation and scheduling control.

[0078] In one possible implementation, based on the multi-level task priority scheduling queue and the bandwidth status of link nodes in the current low-Earth orbit satellite constellation, satellite link bandwidth resources are divided into multiple bandwidth regions. Each bandwidth region corresponds to a task priority level, and a bandwidth slice configuration table is constructed. Specifically, this includes: calculating the proportion of tasks for each priority level based on the number of evidence collection tasks corresponding to each priority level in the multi-level task priority scheduling queue; obtaining the total remaining communication bandwidth of all link nodes by combining the bandwidth status of link nodes in the directed graph structure within the current scheduling period; calculating the total bandwidth of the corresponding bandwidth region based on the proportion of tasks for each priority level and a preset priority weight factor; allocating link nodes to the priority level corresponding to the bandwidth region based on the remaining bandwidth and stability parameters of the link nodes, forming multiple bandwidth regions, each bandwidth region being bound to a task priority level; using link nodes as index entries, recording their respective bandwidth regions, supported task priority levels, allocated bandwidth, available bandwidth, and dynamic load threshold, and constructing a bandwidth slice configuration table. The bandwidth slice configuration table is used to determine whether a link node in a path has scheduling authority for the task priority level, and when the available bandwidth of a link node is greater than the data transmission demand, the path is allowed to enter the scheduling candidate path set.

[0079] Specifically, firstly, for each priority level in the multi-level task priority scheduling queue, the server counts the number of forensic tasks included under each priority level within the scheduling cycle, and calculates its proportion in all forensic tasks. This reflects the competition intensity of each level of tasks for communication resources. Let the total number of tasks be N, the number of high-priority tasks be N1, the number of medium-priority tasks be N2, and the number of low-priority tasks be N3. Then the proportions of the number of tasks are as follows:

[0080]

[0081] Here, r1, r2, and r3 represent the proportions of tasks with high, medium, and low priority levels, respectively.

[0082] Subsequently, based on the directed graph structure of the low-Earth orbit satellite constellation built within the current scheduling period, the server extracts and sums the remaining communication bandwidth of all link nodes to obtain the total available communication bandwidth of the current link nodes, denoted as B. total For example, if a graph structure contains nodes LQ-101, LQ-102, and LQ-103, with corresponding remaining communication bandwidths of 30Mbps, 45Mbps, and 25Mbps respectively, then:

[0083] B total =30+45+25=100Mbps

[0084] Then, combining the preset task priority level weighting factors, the total bandwidth for each priority level is calculated. Assuming the weighting factors for high, medium, and low priority levels are ω1, ω2, and ω3 respectively, the bandwidth allocation formula is:

[0085] B1 = B total ·r1·ω1,B2=B total ·r2·ω2,B3=B total ·r3·ω3

[0086] Where B1, B2, and B3 represent the total bandwidth allocated to high, medium, and low priority bandwidth areas, respectively. For example, if r1 = 0.5, r2 = 0.3, r3 = 0.2, and ω1 = 1.0, ω2 = 0.8, ω3 = 0.6, then:

[0087] B1 = 100 * 0.5 * 1.0 = 50 Mbps

[0088] B2 = 100 * 0.3 * 0.8 = 24 Mbps

[0089] B3 = 100 * 0.2 * 0.6 = 12 Mbps

[0090] Next, based on the remaining bandwidth and link stability parameters of each link node, the server allocates the link nodes to bandwidth regions matching their resource conditions and binds the link nodes to the corresponding task priority levels. The link stability parameter can be represented as a weighted combination score of indicators such as data packet loss rate and link availability percentage over past periods, denoted as σ. i If the bandwidth of a certain node satisfies B i ≥ threshold and σ i If the value is greater than or equal to the trust threshold, then the node will be included in the bandwidth region set of the corresponding level.

[0091] Finally, a bandwidth slicing configuration table is constructed using link nodes as index entries. For each link node, information such as its bandwidth region, supported task priority level, currently allocated bandwidth, remaining available bandwidth, and dynamic load threshold is recorded. For example, the table entries are as follows: Node Number: LQ-102; Bandwidth Region: Z1 (High Priority); Supported Scheduling Level: High; Allocated Bandwidth: 20Mbps; Available Bandwidth: 25Mbps; Dynamic Load Threshold: 0.75. This bandwidth slicing configuration table serves as the basis for subsequent path scheduling decisions. During the link path selection process, it determines whether a link node in the path has the priority level scheduling authority corresponding to the scheduled task. Only when the available bandwidth of a link node is greater than the transmission requirement of the current data segment is the path allowed to enter the scheduling candidate path set, thereby ensuring the scheduling of critical task resources and avoiding interference.

[0092] S160. Based on the path scheduling table and bandwidth slicing configuration table, a two-way mapping data interaction strategy is adopted to upload the evidence collection data generated by the ship node to the shore-based control system node through the link path determined by the path scheduling table, and to send the control data generated by the shore-based control system node to the ship node after resource allocation through the bandwidth slicing configuration table.

[0093] Specifically, the bidirectional mapping data interaction strategy is a scheduling mechanism that maps data uploads and control data downloads to a path scheduling table and a bandwidth slicing configuration table, respectively. That is, the uplink path is determined by the path scheduling table, while downlink resources are guaranteed by the bandwidth slicing configuration table, thus achieving decoupled control of path and resource status in bidirectional transmission. Example: Data generated by ship node U1 is uploaded hop-by-hop according to the link path L1→L2→G shown in the path scheduling table. Control commands generated by the shore-based system select the link L2→L1→U1 with sufficient bandwidth margin according to the bandwidth slicing configuration table to complete the data download. Evidence-gathering data generated by ship nodes refers to multimodal content such as on-site images, audio, video, and sensor data collected by evidence-gathering equipment. This data needs to be transmitted to the shore-based control system for processing and archiving via a low-Earth orbit satellite link. This type of data is typically large in size and has a fixed upload direction. Example: Ship U1 collects a 120MB video clip in mission T1. This evidence-gathering data needs to be uploaded to the shore-based node GCS-1 via the path indicated by the path scheduling table. Control data generated by shore-based control system nodes refers to control commands generated by the shore-based dispatching system based on task status, resource dynamics, and target behavior plans. These commands include task initiation, equipment activation, and certification mode switching, and must be sent to designated vessel nodes to complete closed-loop control. Example: Control data is: a control command of approximately 2KB is issued to vessel U2 to "start infrared imaging mode and switch to area B," with high priority.

[0094] Link path uplink refers to the process of forwarding evidence data uplink along the link sequence selected in the path scheduling table. Data is forwarded node by node to the shore-based target according to the task scheduling path. Example: The T1 path is LQ-103→LQ-106→LQ-110→GS-1, and video data is transmitted in segments along this path. Resource allocation followed by downlink means that during the downlink process, control data must first be checked against the bandwidth slicing configuration table to determine if the link node supports the priority scheduling. If the resources meet the conditions, bandwidth allocation is performed and downlink is completed; otherwise, it is transferred to the delay queue or backup path scheduling. Example: Task T2 is of medium priority. The currently available bandwidth of path node LQ-105 is 12Mbps, which meets the required 4Mbps control data bandwidth, allowing scheduling and command downlink execution.

[0095] In one possible implementation, based on a path scheduling table and a bandwidth slicing configuration table, a bidirectional mapping data interaction strategy is adopted. Evidence-gathering data generated by ship nodes is uploaded to shore-based control system nodes via the link paths determined by the path scheduling table. Control data generated by shore-based control system nodes is then distributed to ship nodes after resource allocation via the bandwidth slicing configuration table. Specifically, for each active evidence-gathering task, the corresponding link path sequence is extracted from the path scheduling table. Based on the link path sequence, the bandwidth slicing configuration table is queried node by node to determine whether the link node has scheduling authority at the current task priority level and whether the bandwidth margin meets the transmission bandwidth requirements for data slicing. If it is determined that the link node has scheduling authority at the current task priority level and the bandwidth margin meets the transmission bandwidth requirements for data slicing, then bandwidth resources are allocated to the link node. The evidence collection data generated by the ship nodes is forwarded in an orderly manner along the link path sequence. During the evidence collection data forwarding process, a sliding window capacity is set for each link node. After the upstream node confirms the completion of data forwarding, the window is released to allow the next data fragment transmission. If there is bandwidth congestion at a link node in the path, an alternative link path is selected from the path scheduling table for path switching. For the control data generated by the shore-based control system nodes, the task identifier, control timestamp, and target ship node identifier are bound. The predetermined distribution path is selected according to the path scheduling table. At each node on the link path, the task priority scheduling authority and bandwidth availability are confirmed by querying the bandwidth slicing configuration table. If the task priority scheduling authority and bandwidth availability are satisfied, the command is entered into the control command distribution scheduling queue; otherwise, it is transferred to the asynchronous retry queue to re-initiate path selection in subsequent scheduling cycles.

[0096] Specifically, firstly, for each active forensic task, the server extracts the corresponding link path sequence from the path scheduling table. This path sequence defines an ordered combination of links starting from the ship node, passing through multiple link nodes, and finally reaching the shore-based control system node. Based on this path sequence, the server accesses the bandwidth slicing configuration table hop-by-hop, performing a status query on each link node in the path. The key focus is determining whether the link node supports the scheduling permissions corresponding to the task priority level of the current forensic task, and further determining whether the available bandwidth of the link node meets the transmission bandwidth required for the current data slicing. For example, if a task is a high-priority task, and the configuration entry for link node LQ-203 in the path indicates that it currently only supports medium-to-low priority scheduling, then this path is not eligible for scheduling, and an alternative path must be selected.

[0097] If all link nodes in the path sequence have scheduling authority at the current task priority level, and the available bandwidth of each link node is not less than the bandwidth requirement of the data fragment, the server allocates corresponding bandwidth resources to each link node on the path according to the path order, and forwards the evidence collection data generated by the ship node in a fragmented manner along the link path sequence node by node in an orderly manner. During this process, each link node is configured with a sliding window mechanism to control the granularity of data transmission from upstream nodes to this node. When an upstream node receives an acknowledgment from this node, it releases the window and allows the next data fragment to be sent, ensuring that the data fragments have an acknowledgment feedback mechanism during transmission on the path, preventing congestion and data loss. For example, link node LQ-210 is configured with a sliding window capacity of 3 fragments. If 3 consecutive data fragments are not acknowledged, it will suspend receiving subsequent data until an acknowledgment is received. If the bandwidth resources of a link node suddenly become congested during forwarding, no longer meeting the availability requirements of the bandwidth slicing configuration table, the server immediately consults the corresponding set of backup link paths in the path scheduling table, selects the path with the best score for path switching, and ensures that the forwarding of task data is not interrupted.

[0098] For control data generated by shore-based control system nodes, the server first binds a unique task identifier, control timestamp, and target vessel node identifier to each piece of control data to clarify the task entity, timing, and target node to which the instruction belongs. After completing the metadata binding, the server looks up the predetermined path for the control data to be sent according to the path scheduling table, and queries the bandwidth slicing configuration table node by node to determine whether each link node meets the scheduling authority of the current task priority level and whether its available bandwidth is higher than the transmission requirements of the control data. If all nodes meet the scheduling conditions, the control data enters the instruction sending scheduling queue and is sent to the target vessel node sequentially through the specified path. For example, if the control instruction size is 1KB and the path node bandwidth margin is 5Mbps, it immediately enters the sending queue. If any node does not meet the bandwidth or scheduling authority requirements, the control data is transferred to the asynchronous retry queue, and the path selection and resource matching process is restarted in subsequent scheduling cycles to ensure that the reliable sending of instructions is not permanently interrupted due to momentary link fluctuations.

[0099] Overall, this implementation scheme achieves dynamic scheduling and path mapping of uplink evidence collection data and downlink control data under resource constraints through dual control of path scheduling table and bandwidth slicing configuration table. It ensures reliable data transmission of high-priority tasks and priority response capability of control commands, and has congestion avoidance, sliding window control and path backup switching mechanisms, which significantly improves the stability and timeliness of data interaction in multi-task high-density scenarios.

[0100] In one possible implementation, an instruction cache queue is configured on each link node of each link path determined by the path scheduling table. The instruction cache queue is used to temporarily store control data that has not yet received acknowledgment from downstream nodes. For each piece of control data to be forwarded, its task identifier, control timestamp, and distribution status flag are recorded, and a maximum waiting time is set as a timeout threshold. If an acknowledgment is received from a downstream node within the timeout threshold, the corresponding control data is removed from the instruction cache queue and the allocated bandwidth resources are released. If no acknowledgment is received within the timeout threshold, a retransmission operation is automatically triggered, and the control data is re-added to the scheduling queue and the path resources are reallocated based on the path scheduling table.

[0101] Specifically, firstly, based on the link path sequence recorded in the path scheduling table, the server configures an independent instruction cache queue at each link node included in each link path. Each instruction cache queue uses the link node as an index entry and serves as a buffer area for temporarily storing control data that has not yet completed the confirmation interaction process. This instruction cache queue has a FIFO (First-In-First-Out) queuing rule and supports status flags and timer mechanisms for identifying data processing status and monitoring control timeouts. For example, if link node LQ-208 is configured with an instruction cache queue and its current queue length is 5, it means that the node is temporarily storing 5 pieces of control data that have not yet been confirmed.

[0102] Subsequently, for each control data sent through the scheduling system and entering the forwarding process, a unique task identifier, control timestamp, and distribution status flag are appended. These three elements together constitute a unique scheduling tuple for the control data. The task identifier indicates the task entity to which the control data belongs, the control timestamp reflects the generation and sending time, and the distribution status flag records the scheduling status of the data at the current node (e.g., "pending confirmation," "confirmed," "pending retransmission," etc.). Simultaneously, the server sets a maximum waiting time for this control data at each link node as a timeout threshold. For example, control data CMD-312 corresponds to task identifier T-101, a timestamp of 20250707-092300, and a timeout threshold of 500 milliseconds. This means that if no confirmation is received within 500 milliseconds after the data is sent to the next-hop link node, an exception handling process is triggered.

[0103] During normal forwarding, if the server receives an acknowledgment from the downstream node within the set timeout threshold, it indicates that the control data has been successfully received by the downstream node and enters the next-hop scheduling phase. At this point, the server immediately removes the control data from the instruction cache queue of the current link node, releases the bandwidth resources it occupies, and updates the node's available bandwidth value in the bandwidth slice configuration table to free up scheduling space for subsequent instruction scheduling. For example, if LQ-208 receives an ACK-312 acknowledgment message from LQ-209, confirming that CMD-312 has been received, it removes the cache and releases the occupied 1Mbps bandwidth.

[0104] If no acknowledgment is received from the downstream node within the set timeout threshold, the server determines that the control data transmission on the current path has failed. To avoid task response failure due to lost control commands, the server immediately triggers a retransmission operation, adding the control data back to the scheduling queue and re-executing the path selection operation according to the path scheduling table, selecting a backup link path with scheduling authority and sufficient bandwidth margin for re-scheduling and forwarding. The retransmitted control data retains the original task identifier and timestamp, but updates the distribution status to "retransmission" so that link nodes can identify its processing priority. For example, if CMD-312 is not acknowledged by LQ-209 within 500 milliseconds, the system reselects the path LQ-208→LQ-212→LQ-214→GCS-1 for secondary scheduling.

[0105] Through the above mechanism, the instruction cache queue and the joint confirmation receipt mechanism constitute a complete link reliability control subsystem. Under the conditions of dynamic path changes and unstable link status, it ensures the complete delivery of control data and the robustness of system scheduling, and effectively prevents the failure of ship mission response caused by the loss or delay of control instructions.

[0106] This application also provides a data interaction and scheduling device based on low-Earth orbit satellites, referring to... Figure 2 , Figure 2This is a schematic diagram of a data interaction scheduling device based on low-Earth orbit satellites provided in an embodiment of this application. The device is a server, comprising an acquisition module 21 and a processing module 22. The acquisition module 21 acquires multiple evidence collection task scheduling requests. The processing module 22 calculates the corresponding task priority weight based on the task criticality index, task time window, and target historical response confidence level in each evidence collection task scheduling request, and classifies all evidence collection tasks according to the task priority weight to form a multi-level task priority scheduling queue. The acquisition module 21 acquires the low-Earth orbit satellite constellation configuration and constructs a directed graph structure containing satellite nodes and satellite links. For each ship node to which an evidence collection task belongs, the processing module 22 searches the directed graph structure for multiple candidate link paths from the ship node to the shore-based control system node, based on link load indices. The candidate link paths are scored using the path availability time window index and the link resource guarantee index to form a path scheduling table. The processing module 22 divides the satellite link bandwidth resources into multiple bandwidth regions based on the multi-level task priority scheduling queue and the bandwidth status of the link nodes in the current low-Earth orbit satellite constellation. Each bandwidth region is bound to a task priority level, and a bandwidth slice configuration table is constructed. Based on the path scheduling table and the bandwidth slice configuration table, the processing module 22 adopts a two-way mapping data interaction strategy to upload the evidence collection data generated by the ship node to the shore-based control system node through the link path determined by the path scheduling table, and sends the control data generated by the shore-based control system node to the ship node after resource allocation through the bandwidth slice configuration table.

[0107] It should be noted that the above embodiments of the apparatus are only illustrated by the division of the above functional modules. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0108] This application also provides an electronic device, with reference to... Figure 3 , Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device may include: at least one processor 31, at least one network interface 34, a user interface 33, a memory 35, and at least one communication bus 32.

[0109] The communication bus 32 is used to enable communication between these components.

[0110] The user interface 33 may include a display screen and a camera. Optionally, the user interface 33 may also include a standard wired interface and a wireless interface.

[0111] The network interface 34 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0112] The processor 31 may include one or more processing cores. The processor 31 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 35, and by calling data stored in the memory 35. Optionally, the processor 31 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 31 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also be implemented as a separate chip without being integrated into the processor 31.

[0113] The memory 35 may include random access memory (RAM) or read-only memory. Optionally, the memory 35 may include a non-transitory computer-readable storage medium. The memory 35 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 35 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 35 may also be at least one storage device located remotely from the aforementioned processor 31. Figure 3 As shown, the memory 35, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a data interaction scheduling method based on low-Earth orbit satellites.

[0114] exist Figure 3 In the electronic device shown, the user interface 33 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 31 can be used to call an application program stored in the memory 35 that is a data interaction scheduling method based on low-orbit satellites. When executed by one or more processors, the electronic device executes one or more methods as described in the above embodiments.

[0115] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0116] This application also provides a computer-readable storage medium storing instructions. When executed by one or more processors, these instructions cause an electronic device to perform one or more of the methods described in the above embodiments.

[0117] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0118] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the shown or discussed mutual couplings or direct couplings or communication connections may be through some service interfaces; indirect couplings or communication connections between apparatuses or units may be electrical or other forms.

[0119] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0120] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0121] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0122] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A data interaction scheduling method based on low-Earth orbit satellites, characterized in that, The method includes: Obtain multiple evidence collection task scheduling requests; Based on the task criticality index, task time window and target historical response confidence in each of the evidence collection task scheduling requests, the corresponding task priority weight is calculated, and all evidence collection tasks are classified according to the task priority weight to form a multi-level task priority scheduling queue. Obtain the low-Earth orbit satellite constellation configuration and construct a directed graph structure containing satellite nodes and satellite links; For each of the evidence collection tasks, multiple candidate link paths from the ship node to the shore-based control system node are searched in the directed graph structure. The candidate link paths are scored according to the link load index, the path availability time window index, and the link resource guarantee index to form a path scheduling table. Based on the multi-level task priority scheduling queue and the bandwidth status of the link nodes in the current low-Earth orbit satellite constellation, the satellite link bandwidth resources are divided into multiple bandwidth regions. Each bandwidth region is bound to a task priority level, and a bandwidth slice configuration table is constructed. Based on the path scheduling table and the bandwidth slicing configuration table, a bidirectional mapping data interaction strategy is adopted to upload the evidence collection data generated by the ship node to the shore-based control system node through the link path determined by the path scheduling table, and to send the control data generated by the shore-based control system node to the ship node after resource allocation through the bandwidth slicing configuration table.

2. The data interaction and scheduling method based on low-Earth orbit satellites according to claim 1, characterized in that, The step involves calculating the corresponding task priority weight based on the task criticality index, task time window, and target historical response confidence in each evidence collection task scheduling request, and classifying all evidence collection tasks according to the task priority weight to form a multi-level task priority scheduling queue, specifically including: The task criticality index, the task time window, and the target historical response confidence are normalized to obtain standardized task criticality index, standardized time urgency index, and standardized target response confidence index. The standardized task criticality index, the standardized time urgency index, and the standardized target response confidence index are weighted and summed using a weighted linear combination function to obtain the task priority weight. Based on the comparison between the multiple task priority weights and the preset multiple task priority level thresholds, all evidence collection tasks are divided into high-priority task sets, medium-priority task sets and low-priority task sets, and a multi-level task priority scheduling queue is formed according to the priority level.

3. The data interaction and scheduling method based on low-Earth orbit satellites according to claim 1, characterized in that, The acquisition of the low-Earth orbit satellite constellation configuration and the construction of a directed graph structure including satellite nodes and satellite links specifically include: The operational status information of the low-Earth orbit satellite constellation is obtained, including satellite number, three-dimensional orbital parameters, latitude and longitude of the nadir point, visible area boundary, inter-satellite link configuration status and satellite-to-ground link reachability status. Based on the operational status information, each low-orbit satellite that can participate in data relay within the current scheduling cycle is defined as a satellite node, thus obtaining a set of satellite nodes; Based on the inter-satellite link configuration status and satellite-to-ground link reachability status, a set of directed links between each of the satellite nodes is constructed. Each directed link is further equipped with attributes such as remaining communication bandwidth, link stability coefficient, hop cost, inter-satellite distance, link propagation delay, and load occupancy rate. The satellite node set and the directed link set are combined to construct the satellite constellation configuration graph structure under the current scheduling period, and the directed graph structure is generated.

4. The data interaction and scheduling method based on low-Earth orbit satellites according to claim 1, characterized in that, For each vessel node to which the evidence collection task belongs, multiple candidate link paths from the vessel node to the shore-based control system node are searched in the directed graph structure. These candidate link paths are scored based on link load indicators, path availability time window indicators, and link resource guarantee indicators to form a path scheduling table, specifically including: Based on the reachability status of the satellite-to-ground links between the ship nodes and the visible satellite nodes in the directed graph structure, the set of starting nodes for path search is determined. The termination node of the path search is determined based on the position of the shore-based control system node in the directed graph structure. A restricted depth-first search algorithm is used to search for multiple candidate link paths from the starting node to the ending node under the conditions of satisfying the path hop count limit and link availability constraint, forming a candidate path set. For each candidate link path in the candidate path set, calculate the link load index, the path availability time window index, and the link resource guarantee index, and calculate the path score. The link load index is the weighted average of the current load occupancy of all links in the path, the path availability time window index is the intersection duration of the availability time windows of all links, and the link resource guarantee index is the minimum remaining bandwidth of all links in the path. The candidate path set is sorted according to the path score value, and multiple candidate paths that meet the preset conditions are selected to construct the path scheduling table. The path scheduling table is used to record the evidence collection task identifier, ship node identifier, link path sequence and path score result.

5. The data interaction and scheduling method based on low-Earth orbit satellites according to claim 3, characterized in that, The process involves dividing satellite link bandwidth resources into multiple bandwidth regions based on the multi-level task priority scheduling queue and the bandwidth status of link nodes in the current low-Earth orbit satellite constellation. Each bandwidth region corresponds to a task priority level, and a bandwidth slicing configuration table is constructed. Specifically, this includes: Based on the number of evidence collection tasks corresponding to each priority level in the multi-level task priority scheduling queue, calculate the proportion of the number of tasks at each priority level. Based on the bandwidth status of the link nodes in the directed graph structure during the current scheduling period, the total remaining communication bandwidth of all link nodes is obtained. The total bandwidth of the corresponding bandwidth area is calculated based on the proportion of tasks at each priority level and the preset priority weight factor. Based on the remaining bandwidth and stability parameters of the link nodes, the link nodes are assigned to priority levels corresponding to the bandwidth regions, forming multiple bandwidth regions, and each bandwidth region is bound to a task priority level; Using link nodes as index entries, the bandwidth slicing configuration table is constructed by recording the bandwidth region to which the link node belongs, the priority level of the task to be scheduled, the amount of allocated bandwidth, the available bandwidth margin, and the dynamic load threshold. The bandwidth slicing configuration table is used to determine whether the link node in the path has the scheduling authority of the task priority level, and when the available bandwidth margin of the link node is greater than the data transmission demand, the path is allowed to enter the scheduling candidate path set.

6. The data interaction and scheduling method based on low-Earth orbit satellites according to claim 5, characterized in that, The data interaction strategy, based on the path scheduling table and the bandwidth slicing configuration table, employs a bidirectional mapping to upload the evidence collection data generated by the ship node to the shore-based control system node via the link path determined by the path scheduling table. Conversely, the control data generated by the shore-based control system node is distributed to the ship node after resource allocation via the bandwidth slicing configuration table. Specifically, this includes: For each active forensic task, extract the corresponding link path sequence from the path scheduling table, query the bandwidth slicing configuration table node by node according to the link path sequence, and determine whether the link node has scheduling authority for the current task priority level and whether the bandwidth margin meets the transmission bandwidth requirements of data slicing. If it is determined that the link node has scheduling authority for the current task priority level, and the bandwidth margin meets the transmission bandwidth requirements of data fragmentation, then bandwidth resources are allocated to the link node, and the evidence collection data generated by the ship node is forwarded in an orderly manner along the link path sequence. During the data forwarding process, a sliding window capacity is set for each link node. After the upstream node confirms the completion of data forwarding, the window is released to allow the next data fragment to be transmitted. If there is bandwidth congestion in the link node in the path, an alternative link path is selected from the path scheduling table for path switching. For the control data generated by the shore-based control system nodes, the task identifier, control timestamp and target ship node identifier are bound, a predetermined distribution path is selected according to the path scheduling table, and the task priority scheduling authority and bandwidth availability are confirmed by querying the bandwidth slicing configuration table at each node on the link path. If the task priority scheduling permission and bandwidth availability are satisfied, the task enters the control instruction issuance scheduling queue; otherwise, it enters the asynchronous retry queue to re-initiate path selection in subsequent scheduling cycles.

7. The data interaction and scheduling method based on low-Earth orbit satellites according to claim 6, characterized in that, The method further includes: Configure an instruction cache queue on each link node of the link path determined by the path scheduling table. The instruction cache queue is used to temporarily store control data that has not yet received confirmation from the downstream node. For each piece of control data to be forwarded, record its task identifier, control timestamp, and distribution status flag, and set the maximum waiting time as the timeout threshold; If an acknowledgment is received from the downstream node within the timeout threshold, the corresponding control data is removed from the instruction cache queue and the allocated bandwidth resources are released. If the acknowledgment is not received within the timeout threshold, a retransmission operation is automatically triggered, and the control data is re-added to the scheduling queue and the path resources are reallocated based on the path scheduling table.

8. A data interaction and scheduling device based on low-Earth orbit satellites, characterized in that, The device includes an acquisition module (21) and a processing module (22), wherein, The acquisition module (21) is used to acquire multiple evidence collection task scheduling requests; The processing module (22) is used to calculate the corresponding task priority weight based on the task criticality index, task time window and target historical response confidence in each evidence collection task scheduling request, and classify all evidence collection tasks according to the task priority weight to form a multi-level task priority scheduling queue. The acquisition module (21) is also used to acquire the low-orbit satellite constellation configuration and construct a directed graph structure containing satellite nodes and satellite links; The processing module (22) is also used to search for multiple candidate link paths from the ship node to the shore-based control system node in the directed graph structure for each ship node to which the evidence collection task belongs, and to score the candidate link paths according to the link load index, the path availability time window index and the link resource guarantee index to form a path scheduling table. The processing module (22) is also used to divide the satellite link bandwidth resources into multiple bandwidth regions according to the multi-level task priority scheduling queue and the bandwidth status of the link nodes in the current low-orbit satellite constellation, with each bandwidth region corresponding to a task priority level, and to construct a bandwidth slice configuration table. The processing module (22) is also used to upload the evidence collection data generated by the ship node to the shore-based control system node through the link path determined by the path scheduling table based on the path scheduling table and the bandwidth slicing configuration table, and to send the control data generated by the shore-based control system node to the ship node after resource allocation through the bandwidth slicing configuration table.

9. An electronic device, characterized in that, The electronic device includes a processor (31), a memory (35), a user interface (33), and a network interface (34). The memory (35) is used to store instructions. The user interface (33) and the network interface (34) are both used to communicate with other devices. The processor (31) is used to execute the instructions stored in the memory (35) to cause the electronic device to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed, perform the method as described in any one of claims 1 to 7.

Images