Ground station deployment method, device, equipment and storage medium

Abstract

The application provides a ground station deployment method, device, equipment and storage medium, ground stations required to be deployed in a preset area and geographical boundary information of the preset area are acquired; a plurality of candidate positions of the ground stations are determined according to the geographical boundary information, a function value of the ground stations when deployed at each candidate position is determined by using a mixed utility evaluation function according to communication quality of a satellite network as a whole and a communication path diversity parameter of the satellite network when the ground stations are deployed at each candidate position, and a target position of the ground stations is determined according to each function value; the mixed utility evaluation function comprises a first function item and a second function item, the first function item is used for representing the communication quality of the satellite network as a whole, the second function item is used for representing the communication path diversity parameter of the satellite network, and the mixed utility evaluation function is a function for solving the best communication quality and / or the best communication path diversity parameter. The invulnerability of the deployed ground stations can be improved by using the technical scheme of the application.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and in particular to a ground station deployment method, apparatus, equipment, and storage medium. Background Technology

[0002] With the rapid development of satellite internet, it is becoming a research hotspot in the global information and communication field as an important component of the future internet. Satellite internet, by deeply integrating satellite communication systems with terrestrial internet, achieves wide-area coverage, efficient transmission, and flexible scheduling, providing crucial support for scenarios such as remote communication, disaster emergency response, and military command. In this satellite internet system, ground stations, as the core nodes, undertake the bridging function between satellites and the terrestrial internet. Their deployment strategies directly affect network performance and service quality; therefore, it is necessary to study ground station deployment strategies.

[0003] In related technologies, the deployment strategy of ground stations is generally studied based on satellite communication performance indicators, such as improving network throughput, reducing communication latency, and expanding coverage.

[0004] However, when studying the deployment of ground stations using the above technologies, most of the research is based on the assumption that the satellite network is operating normally, and less attention is paid to the resilience of the satellite network under abnormal conditions. Therefore, the ground stations deployed using the above technologies have poor resilience. Summary of the Invention

[0005] This invention provides a ground station deployment method, apparatus, equipment, and storage medium to address the shortcomings of existing technologies that pay less attention to the resilience of satellite networks under abnormal conditions, resulting in poor resilience of ground stations deployed in the aforementioned technologies. The invention achieves this by using a hybrid utility evaluation function to determine the function value of the ground station at each candidate location within a preset area, taking into account the overall communication quality and communication path diversity parameters of the satellite network. Based on this, the optimal deployment location of the ground station is determined. This comprehensive consideration of the overall communication quality and communication path diversity of the satellite network during ground station deployment significantly enhances the network's resilience under abnormal conditions, thereby constructing a more robust and reliable satellite internet architecture.

[0006] This invention provides a ground station deployment method, comprising: Obtain at least one ground station to be deployed within a preset area and the corresponding geographic boundary information of the preset area; For each ground station, based on geographical boundary information, multiple candidate locations corresponding to the ground station when deployed within a preset area are determined. Based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, a hybrid utility evaluation function is used to determine the function value of the ground station when deployed at each candidate location. Based on each function value, the target location of the ground station within the preset area is determined. The aforementioned hybrid utility evaluation function includes a first function term and a second function term. The first function term is used to characterize the overall communication quality of the satellite network, and the second function term is used to characterize the communication path diversity parameter of the satellite network. The hybrid utility evaluation function is a function for solving the optimal communication quality and / or the optimal communication path diversity parameter. The satellite network includes satellites, ground stations, and user terminals.

[0007] According to a ground station deployment method provided by the present invention, the method involves determining multiple candidate locations for deployment of the ground station within a preset area based on geographical boundary information, and determining the function value of the ground station at each candidate location using a hybrid utility evaluation function based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, and determining the target location for deployment of the ground station within the preset area based on each function value. Obtain the initial search granularity interval, the target search granularity interval, and the search granularity scaling factor; The preset area is divided into grids based on the initial search granularity interval and geographic boundary information to determine multiple first candidate locations for the deployment of ground stations within the preset area. Based on the overall first communication quality of the satellite network and the first communication path diversity parameter of the satellite network when the ground station is deployed at each first candidate location, a hybrid utility evaluation function is used to determine the function value of the ground station when it is deployed at each first candidate location, and the second candidate location of the ground station within the preset area is determined based on each function value. The target location of the ground station within the preset area is determined based on the second candidate location deployed by the ground station within the preset area, the target search granularity interval, and the search granularity scaling factor.

[0008] According to a ground station deployment method provided by the present invention, the method for determining the target location of the ground station within a preset area based on a second candidate location of the ground station within a preset area, a target search granularity interval, and a search granularity scaling factor includes: Check whether the initial search granularity interval of the current iteration round has reached the target search granularity interval; If the initial search granularity interval of the current iteration round does not reach the target search granularity interval, then the candidate region is determined based on the second candidate position, and the intermediate search granularity interval is determined based on the initial search granularity interval and the search granularity scaling factor. The candidate region is used as the new preset region, and the intermediate search granularity interval is used as the new initial search granularity interval. The process returns to the previous step of dividing the preset region into grids based on the initial search granularity interval and geographic boundary information, and determining multiple first candidate locations corresponding to the deployment of the ground station within the preset region. This process continues until the initial search granularity interval of the current iteration reaches the target search granularity interval, thus determining the target location for the deployment of the ground station within the preset region. The intermediate search granularity interval of the current iteration is less than the initial search granularity interval of the current iteration.

[0009] According to a ground station deployment method provided by the present invention, the method for determining the function value of the ground station at each candidate location based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, using a hybrid utility evaluation function, includes: Obtain the communication demand set and the multiple ground station deployment sets when the ground stations are deployed at each candidate location; the communication demand set includes at least one pair of user terminals that need to communicate, and each ground station deployment set includes all ground stations deployed in different locations in the satellite network; For each ground station deployment set, based on the satellite network of all user terminals in the ground station deployment set, determine the communication path set for each user terminal pair in the ground station deployment set; the communication path set includes multiple communication paths between user terminal pairs when communicating through satellite and ground stations; Based on the communication performance parameters of each communication path in the communication path set of each user terminal pair, determine the overall first communication quality of all user terminal pairs under the ground station deployment set and the first communication path diversity parameters of all user terminal pairs under the ground station deployment set. Based on the overall first communication quality of all user terminals under the ground station deployment set and the first communication path diversity parameter of all user terminals under the ground station deployment set, a hybrid utility evaluation function is used to determine the function value of the ground station under the ground station deployment set, and based on the function value of the ground station under each ground station deployment set, the function value of the ground station when deployed at each candidate location is determined.

[0010] According to a ground station deployment method provided by the present invention, each communication path includes at least one communication link. The method for determining the overall first communication quality of all user terminal pairs under the ground station deployment set based on the communication performance parameters of each communication path in the communication path set for each user terminal pair includes: For each communication path in the communication path set for each user terminal pair, the total path delay corresponding to the communication path is determined based on the communication delay of each communication link in the communication path. The average path delay corresponding to the communication path set of each user terminal pair is determined based on the total path delay of each communication path in the communication path set of each user terminal pair. Based on the average path delay of each user terminal pair, the overall average path delay of all user terminal pairs under the ground station deployment set is determined, and the overall average path delay is used as the first communication quality of all user terminal pairs under the ground station deployment set.

[0011] According to a ground station deployment method provided by the present invention, each communication path includes at least one communication link. The method for determining a first communication path diversity parameter for all user terminal pairs under the ground station deployment set, based on the communication performance parameters of each communication path in the communication path set for each user terminal pair, includes: For each communication path in the communication path set for each user terminal pair, the total path delay corresponding to the communication path is determined based on the communication delay of each communication link in the communication path. Then, each communication path in the communication path set for the user terminal pair is filtered based on the total path delay of each communication path to determine the feasible path set corresponding to the user terminal pair. The number of communication paths included in the feasible path set is less than the number of communication paths included in the communication path set. Based on the set of feasible paths for each user terminal pair, determine the number of feasible paths corresponding to each user terminal pair; the aforementioned feasible paths are communication paths in the set of feasible paths that do not share inter-satellite links and satellite-to-ground links. Based on the number of feasible paths corresponding to each user terminal pair, the total number of feasible paths for all user terminal pairs under the ground station deployment set is determined, and the total number of feasible paths is used as the first communication path diversity parameter for all user terminal pairs under the ground station deployment set.

[0012] According to a ground station deployment method provided by the present invention, the above-mentioned filtering of each communication path in the communication path set of user terminal pairs based on the total path delay of each communication path to determine the feasible path set corresponding to the user terminal pair includes: The minimum total delay is determined based on the total path delay of each communication path; Based on the minimum total delay and the total path delay of each communication path, each communication path is filtered to determine at least one feasible path. All feasible paths are then combined to determine the set of feasible paths corresponding to the user terminal.

[0013] The present invention also provides a ground station deployment device, comprising the following modules: The acquisition module is used to acquire at least one ground station to be deployed within a preset area and the geographic boundary information corresponding to the preset area; The ground station deployment module is used to determine multiple candidate locations for each ground station within a preset area based on geographical boundary information, and to determine the function value of the ground station at each candidate location based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, using a hybrid utility evaluation function, and to determine the target location for the ground station to be deployed within the preset area based on each function value. The aforementioned hybrid utility evaluation function includes a first function term and a second function term. The first function term is used to characterize the overall communication quality of the satellite network, and the second function term is used to characterize the communication path diversity parameter of the satellite network. The hybrid utility evaluation function is a function for solving the optimal communication quality and / or the optimal communication path diversity parameter. The satellite network includes satellites, ground stations, and user terminals.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement any of the ground station deployment methods described above.

[0015] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the ground station deployment method as described above.

[0016] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements any of the ground station deployment methods described above.

[0017] The ground station deployment method, apparatus, equipment, and storage medium provided by this invention acquire the ground stations to be deployed within a preset area and the geographical boundary information of the preset area. For each ground station, multiple candidate locations corresponding to the ground station's deployment within the preset area are determined based on the geographical boundary information. Based on the overall communication quality of the satellite network and the communication path diversity parameters of the satellite network when the ground station is deployed at each candidate location, a hybrid utility evaluation function is used to determine the function value of the ground station at each candidate location. The target location for the ground station's deployment within the preset area is determined based on each function value. The hybrid utility evaluation function includes a first function term and a second function term. The first function term characterizes the overall communication quality of the satellite network, and the second function term characterizes the communication path diversity parameters of the satellite network. The hybrid utility evaluation function is a function that solves for the optimal communication quality and the optimal communication path diversity. The satellite network includes satellites, ground stations, and user terminals. This method allows for the comprehensive consideration of the overall communication quality of the satellite network and the diversity of communication paths when deploying ground stations. This enables the reasonable deployment of ground stations in the event of network failures or malicious attacks, significantly enhancing the network's resilience under abnormal conditions. This leads to the construction of a more robust and reliable satellite internet architecture, ensuring the security and reliability of data transmission. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is one of the flowcharts illustrating the ground station deployment method provided by the present invention.

[0020] Figure 2 This is the second flowchart illustrating the ground station deployment method provided by the present invention.

[0021] Figure 3 This is the third flowchart illustrating the ground station deployment method provided by the present invention.

[0022] Figure 4 This is a structural schematic diagram of the ground station deployment device provided by the present invention.

[0023] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0025] The deployment planning of ground stations not only determines the coverage and path reachability of the satellite network, but also has a profound impact on key performance indicators such as end-to-end communication latency, routing hop count, load balancing, and fault recovery capabilities. Therefore, scientifically and rationally optimizing the deployment scheme of ground stations is a fundamental guarantee for the efficient operation of satellite internet. In recent years, research on ground station deployment optimization has made significant progress, with related methods mainly focusing on improving network throughput, reducing communication latency, and expanding coverage—traditional performance indicators. However, most of these studies are based on the assumption of normal network operation and pay less attention to the network's resilience under abnormal conditions (such as network node or link failures and malicious attacks). The unique characteristics of satellite internet expose it to multiple potential threats. First, due to the high predictability of satellite orbital information and communication behavior, satellite internet is easily targeted by malicious attacks. Second, as a critical infrastructure connecting the space-ground system, ground stations play an irreplaceable role in network security and resilience. The deployment strategy of ground stations not only affects the survivability of the satellite network when attacked or experiencing failures, but also determines the level of its recovery capability. In extreme situations such as malicious attacks or natural disasters, proper ground station deployment can significantly enhance the network's resilience and ensure the security and reliability of data transmission. Therefore, re-examining the deployment of ground stations from a security and resilience perspective has become an important direction for the development of satellite internet. Based on this, this invention provides a ground station deployment method, apparatus, equipment, and storage medium to solve the aforementioned technical problems and enhance the network's resilience under abnormal conditions.

[0026] It should be noted that the executing entity in the embodiments of the present invention can be a ground station deployment device, an electronic device, a central control device deployed at a ground station, a satellite network, or other devices or apparatus; no specific limitations are made here. The following embodiments will use an electronic device as an example for illustration.

[0027] Figure 1 This is one of the flowcharts illustrating the ground station deployment method provided by the present invention, such as... Figure 1 As shown, the method includes the following steps: Step 102: Obtain at least one ground station to be deployed within the preset area and the geographical boundary information corresponding to the preset area.

[0028] The preset area refers to the region where ground stations need to be deployed, such as a specific area or street. After determining the preset area, its geographical boundary information can be obtained by measuring the geographical boundary of the preset area or by retrieving geographical boundary information stored in a database. This geographical boundary information can include the location information of various points on the geographical boundary of the preset area, the location information of several corner points of the geographical boundary, or the size information of the preset area, such as length, width, side length, radius, or diameter.

[0029] It is understood that the number of ground stations to be deployed within the preset area is one or more, typically multiple ground stations. These ground stations can act as relay nodes in the satellite network / satellite internet, such as base stations or wireless access points, enabling communication between satellites and ground user terminals. The satellite network in this embodiment typically includes satellites, ground stations, and ground user terminals. Satellites may include one or more satellites, ground stations may include one or more ground stations, and user terminals may include one or more user terminals. Satellites can communicate with user terminals through ground stations, or they can communicate directly with user terminals. Satellites can communicate with each other; this communication link can be called an inter-satellite link. Satellites can also communicate with ground stations; this communication link can be called a satellite-to-ground link.

[0030] In addition, after determining the geographical boundary information of the preset area, the number of ground stations to be deployed in the preset area can be determined based on the geographical boundary information of the preset area and information such as the area of ​​the ground stations, or the number of ground stations to be deployed in the preset area can be customized by the user.

[0031] Step 104: For each ground station, based on the geographical boundary information, determine multiple candidate locations corresponding to the deployment of the ground station within the preset area. Based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, use a hybrid utility evaluation function to determine the function value of the ground station when deployed at each candidate location. Then, determine the target location of the ground station within the preset area based on each function value.

[0032] The deployment of ground stations has a significant impact on the performance of satellite networks. Specifically, their role can be summarized in two aspects: First, ground stations can act as relay nodes, bridging disconnected areas in inter-satellite links and forwarding data packets more efficiently, thus optimizing network routing strategies. Second, the introduction of ground stations can greatly enrich the selection space of routing strategies, ensuring the reliability and stability of the satellite network under both normal and abnormal scenarios (such as network failures or malicious attacks). Based on this, after determining the number of ground stations to be deployed in the preset area, the optimal deployment location for each ground station within the preset area can be determined, and then the corresponding ground stations can be deployed at their respective optimal deployment locations to complete the construction of the satellite network architecture.

[0033] When determining the optimal deployment location of each ground station within a preset area, a greedy optimization algorithm / strategy can be used, combined with a hybrid utility evaluation function that includes the overall communication quality of the satellite network and the path diversity parameters of the satellite network. The satellite network includes satellites, ground stations, and user terminals. The hybrid utility evaluation function includes a first function term and a second function term. The first function term characterizes the satellite network, and the second function term characterizes the communication path diversity parameters of the satellite network. The hybrid utility evaluation function is a function that solves for optimal communication quality and / or optimal communication path diversity parameters. Here, the communication quality of the satellite network can be represented by the delay of the communication path, or by the signal quality of the communication path, etc. The communication path diversity parameters of the satellite network characterize the diversity of communication paths during communication, and can be represented by the number of communication paths, etc. By incorporating the satellite network communication path diversity parameters into the hybrid utility evaluation function, the richness of communication paths can be comprehensively considered when determining the optimal deployment location of the ground station, making the network architecture more stable, more resilient, and the data transmission more stable and reliable.

[0034] Specifically, after determining the ground stations to be deployed within the preset area, for each ground station, any location within the preset area that can be used for deployment can be considered as a candidate location. This yields multiple candidate locations for ground station deployment within the preset area. Then, the candidate locations for each ground station can be combined to obtain multiple ground station deployment sets. Each ground station deployment set includes any candidate location for all ground stations; that is, different ground station deployment sets are combinations of candidate locations for different ground stations. For each ground station, a satellite network architecture can be constructed for each ground station deployment set. The overall communication quality (denoted as the first communication quality) and communication path diversity parameter (denoted as the first communication path diversity parameter) of the ground station under each satellite network architecture are calculated for each ground station deployment set. Then, using a hybrid utility evaluation function combined with a greedy optimization strategy, the first communication quality and the first communication path diversity parameter of the ground station under each satellite network architecture are calculated. This solves for the ground station deployment set where the communication quality and / or communication path diversity parameter are optimal under various satellite network architectures. The location of the ground station in this set is its optimal location within the preset area.

[0035] In this case, taking the communication quality as the average path delay of the communication path corresponding to the entire ground station deployment set (i.e., satellite network architecture) as an example, and the communication path diversity parameter as the number of feasible paths in the communication path of the entire ground station deployment set (i.e., satellite network architecture) as an example, we solve for the ground station deployment set when the communication quality and / or communication path diversity parameter are optimal under various satellite network architectures. That is, we minimize the average path delay of the ground station under various ground station deployment sets while maximizing the number of feasible paths of the ground station under various ground station deployment sets.

[0036] Optionally, the hybrid utility evaluation function can be constructed by calculating the ratio of the first communication quality parameter to the first communication path diversity parameter for each ground station deployment set. Based on this, the function value of the ground station for each ground station deployment set can be calculated using the hybrid utility evaluation function. Then, a greedy optimization strategy is used to select the optimal function value (e.g., the minimum function value) from the various ground station deployment sets for that ground station, and the location of the ground station in the deployment set corresponding to the optimal function value is taken as its optimal location for deployment within a preset area. It can be seen that the hybrid utility evaluation function comprehensively considers the balance between path diversity and communication quality (i.e., average path delay) optimization, thereby ensuring that the satellite network achieves optimal performance and resilience.

[0037] The specific process of the greedy optimization strategy described above is as follows: First, initialize the optimal ground deployment set to an empty set and set the optimal function value to infinity. Then, traverse all candidate locations of the ground stations, evaluate the function value of the mixed utility evaluation function for each candidate location, and select the candidate location that results in the optimal function value for deployment. In this way, the optimal ground deployment set and the corresponding optimal function value can be updated step by step. This process continues until an optimal ground deployment set that meets the conditions is found.

[0038] In addition, when determining the optimal location (i.e., target location) of each ground station by identifying multiple candidate locations, the preset area can be divided into multiple candidate locations at once to find the optimal location of the ground station (i.e., static search); or it can be a dynamic hierarchical search, that is, the optimal location of the ground station can be roughly determined in the preset area first, and then further refined around the roughly determined optimal location to find the final optimal location of the ground station; or it can be done through other methods, which are not specifically limited here.

[0039] As described above, by combining a greedy optimization strategy with a hybrid utility evaluation function that includes parameters such as the overall communication quality and communication path diversity of the satellite network, it is possible to select the ground station location that has the most significant impact on the efficiency and security of the satellite internet in all solution spaces. In other words, it is possible to flexibly optimize the deployment location of ground stations within a preset area, thereby effectively improving the path diversity of the satellite network while ensuring its performance, thus enhancing the overall robustness and adaptability of the satellite network.

[0040] In this embodiment, by acquiring the ground stations to be deployed within a preset area and the geographical boundary information of the preset area, for each ground station, multiple candidate locations corresponding to the ground station's deployment within the preset area are determined based on the geographical boundary information. Based on the overall communication quality of the satellite network and the communication path diversity parameters of the satellite network when the ground station is deployed at each candidate location, a hybrid utility evaluation function is used to determine the function value of the ground station at each candidate location. Finally, the target location for the ground station's deployment within the preset area is determined based on each function value. The hybrid utility evaluation function includes a first function term and a second function term. The first function term characterizes the overall communication quality of the satellite network, and the second function term characterizes the communication path diversity parameters of the satellite network. The hybrid utility evaluation function is a function that solves for optimal communication quality and optimal communication path diversity. The satellite network includes satellites, ground stations, and user terminals. In this method, because the overall communication quality of the satellite network and the diversity of communication paths can be comprehensively considered when deploying ground stations, ground stations can be deployed reasonably in the event of network failures or malicious attacks, significantly enhancing the network's resilience under abnormal conditions. This leads to a more robust and reliable satellite internet architecture, ensuring the security and reliability of data transmission.

[0041] In actual deployment of ground stations, the deployment of ground stations is a combinatorial optimization problem with a continuous solution space, which is therefore very large. Directly evaluating and selecting all possible ground station locations would result in excessive computational overhead, making it difficult to implement in complex and large-scale satellite internet. Based on this, this embodiment proposes a technical solution to search for the optimal location of ground stations in a preset area through a dynamic hierarchical approach, which will be explained below.

[0042] Figure 2 This is the second flowchart illustrating the ground station deployment method provided by the present invention, as shown below. Figure 2 As shown, step 104 above, for each ground station, determines multiple candidate locations corresponding to the deployment of the ground station within a preset area based on geographical boundary information. It also determines the function value of the ground station at each candidate location using a hybrid utility evaluation function based on the overall first communication quality of the satellite network and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location. Finally, it determines the target location for the ground station within the preset area based on each function value. This step may include the following steps: Step 202: Obtain the initial search granularity interval, the target search granularity interval, and the search granularity scaling factor.

[0043] The initial search granularity interval, the target search granularity interval, and the search granularity scaling factor can all be preset values. The specific values ​​can be determined based on the actual size of the preset area and the accuracy requirements of the ground station deployment location.

[0044] Furthermore, the initial search granularity interval is generally a coarse one, while the target search granularity interval can be a finer one, meaning the initial search granularity interval is larger than the target search granularity interval. The search granularity scaling factor refers to the scaling ratio at each fine search position. It controls the convergence speed of the initial search granularity interval towards the target search granularity interval, and is generally greater than 1, indicating a search position that gradually approaches from a large range to a small range.

[0045] Step 204: Divide the preset area into grids based on the initial search granularity interval and geographic boundary information to determine multiple first candidate locations corresponding to the deployment of ground stations within the preset area.

[0046] The geographical boundary information of the preset area can also be determined in advance, which serves as the boundary of the search, thus ensuring that the search range is reasonable and the computational load is controllable.

[0047] After determining the initial search granularity interval, the target search granularity interval, the search granularity scaling factor, and the geographic boundary information of the preset area, a global search can be performed first with a coarser spatial search granularity to quickly identify potential optimal solution regions. Then, within these regions, the search granularity is gradually refined, gradually converging towards the target search granularity interval to accurately determine the optimal location. This dynamic hierarchical search strategy can significantly reduce computational complexity while ensuring the quality of the obtained solution space, thus effectively balancing the trade-off between accuracy and efficiency in ground station deployment optimization.

[0048] Specifically, the preset area can be first divided into grids according to the initial search granularity interval and geographic boundary information. The grids can be square grids, that is, the preset area encompassed by the geographic boundary information is divided into multiple grids. The side length of each grid can be the initial search granularity interval. After this division, multiple grids can be obtained, and the positions of the corner points or center points of each grid can be obtained. Then, the position of any corner point or center point of each grid can be used as the position of the corresponding grid, and then the position of each grid can be used as the first candidate position of the ground station within the preset area.

[0049] Step 206: Based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each first candidate location, a hybrid utility evaluation function is used to determine the function value of the ground station when it is deployed at each first candidate location, and the second candidate location of the ground station within the preset area is determined based on each function value.

[0050] In this step, after determining the first candidate locations of the ground station within the preset area, multiple ground station deployment sets can be obtained for each first candidate location. This represents different sets where the ground station might be deployed in other locations if it is deployed in a first candidate location. Then, using these multiple ground station deployment sets, the overall first communication quality and first communication path diversity parameters of the satellite network at each first candidate location can be calculated. A hybrid utility evaluation function is then used to obtain the function value corresponding to the ground station at each first candidate location. Finally, using the function values ​​at each first candidate location, the optimal function value (e.g., the minimum function value, corresponding to the best communication quality and communication path diversity) is found. The first candidate location corresponding to the optimal function value is then designated as the optimal possible deployment location for the ground station, denoted as the second candidate location.

[0051] Understandably, the first candidate locations identified here are rather rough, which allows for a general determination of the possible deployment locations of the ground station and improves deployment efficiency.

[0052] Step 208: Determine the target location of the ground station within the preset area based on the second candidate location deployed by the ground station within the preset area, the target search granularity interval, and the search granularity scaling factor.

[0053] In this step, after obtaining the optimal possible deployment location of the ground station within the preset area, i.e., the second candidate location, the accuracy of the current second candidate location can be determined by combining the target search granularity interval. If the location is accurate enough, it can be directly used as the optimal target location for the ground station. If the location is not accurate enough, the initial search granularity interval can be scaled using a search granularity scaling factor, and the optimal location search can continue around the second candidate location using the scaled search granularity interval to find the optimal target location for the ground station while meeting the target search granularity interval requirements.

[0054] Alternatively, the process of continuing the optimal position search around the second candidate position by scaling the search granularity interval in step 208 above may include the following steps: Step A1: Check whether the initial search granularity interval of the current iteration round has reached the target search granularity interval.

[0055] Step A2: If the initial search granularity interval of the current iteration round does not reach the target search granularity interval, then the candidate region is determined based on the second candidate position, and the intermediate search granularity interval is determined based on the initial search granularity interval and the search granularity scaling factor.

[0056] Step A3: Using the candidate region as the new preset region and the intermediate search granularity interval as the new initial search granularity interval, return to execute the step of dividing the preset region into grids based on the initial search granularity interval and geographic boundary information, and determining multiple first candidate locations corresponding to the deployment of the ground station within the preset region, until the initial search granularity interval of the current iteration reaches the target search granularity interval, and determine the target location for the deployment of the ground station within the preset region; the intermediate search granularity interval of the current iteration is less than the initial search granularity interval of the current iteration.

[0057] Specifically, after obtaining the second candidate location where the ground station might be deployed within a preset area, the optimal target location of the ground station can be iteratively searched. First, it can be checked whether the initial search granularity interval of the current iteration reaches the target search granularity interval, i.e., whether the initial search granularity interval of the current iteration is less than or equal to the target search granularity interval. If it is greater, it indicates that the initial search granularity interval of the current iteration is still too large, and the location search accuracy is insufficient. It is necessary to continue to reduce the location search accuracy for iterative searching. At this point, the candidate region to be searched in the next iteration can be determined around the second candidate location. The method for determining this candidate region includes: expanding the second candidate location according to a preset range, centered on the second candidate location, to obtain the candidate region; the area of ​​this candidate region is smaller than the area of ​​the preset region in the current iteration. This gradually reduces the location search range, decreases the computational load of the location search, and improves the location search efficiency.

[0058] Meanwhile, the initial search granularity interval of the current iteration round can be compared with the search granularity scaling factor to obtain the granularity interval required for the next iteration round, which is denoted as the intermediate search granularity interval. This intermediate search granularity interval is smaller than the initial search granularity interval of the current iteration round, thus achieving the goal of gradually refining the search space for precise searching. Then, the candidate region determined in the current iteration is used as the new preset region for the next iteration. At the same time, the intermediate search granularity interval determined in the current iteration can be used as the new initial search granularity interval for the next iteration. The position search continues, that is, the iteration can return to execute steps 204 to 208 above, continue to divide the new preset region into grids according to the new initial search granularity interval to obtain new first candidate positions and new second candidate positions, and determine whether the new initial search granularity interval reaches the target search granularity interval. If it still does not reach the target search granularity interval, execute steps A1 to A3 to obtain the new initial search granularity interval and the new preset region, and then return to execute steps 204 to 208 above until the initial search granularity interval of the current iteration reaches the target search granularity interval.

[0059] When the initial search granularity interval of the current iteration reaches the target search granularity interval, the iteration ends, and the second candidate position of the ground station corresponding to the iteration end is taken as the target position of the ground station.

[0060] It should be noted that the steps in this embodiment are performed for each ground station. That is, each ground station can use a dynamic hierarchical strategy to search for its optimal location. After obtaining the optimal deployment target location for a ground station each time, its target location can be added to the optimal ground station deployment set. Subsequent ground station location searches will use the determined optimal deployment location in the optimal ground station deployment set. This facilitates rapid location searches for subsequent ground stations. By continuously adding the determined optimal target locations of ground stations to the optimal ground station deployment set, the optimal deployment strategy for all ground stations can be obtained after all ground stations have obtained their optimal target locations.

[0061] In this embodiment, the preset area is divided into grids by combining an initial search granularity interval with the geographic boundary information of the preset area to determine multiple candidate locations for ground stations within the preset area. A hybrid utility evaluation function is then used to determine the function values ​​of these candidate locations to identify the optimal location where the ground station is most likely to be deployed. A smaller target search granularity interval and a search granularity scaling factor are then used to determine the final deployment location of the ground station. This grid-based approach reduces the computational load of location search, improving efficiency. Furthermore, using the hybrid utility evaluation function value for the ground station for location search achieves an optimal balance between ensuring communication quality and improving path diversity, while strictly adhering to deployment location boundary constraints to effectively enhance the efficiency and reliability of the satellite network. Additionally, by gradually narrowing the search range from a larger initial search granularity interval and iteratively performing a hierarchical search for ground station deployment locations, computational efficiency during the location search process is significantly improved while maintaining search accuracy, thereby enhancing ground station deployment efficiency and ensuring feasibility and adaptability in complex, large-scale satellite internet environments.

[0062] The above embodiments illustrate the location search of ground stations, mentioning that a hybrid utility evaluation function can be used to calculate the function value of each ground station at each candidate location, and the deployment location search processing based on this. The following embodiments illustrate a possible implementation of this process.

[0063] Figure 3 This is the third flowchart illustrating the ground station deployment method provided by the present invention, as shown below. Figure 3 As shown, step 104 above, based on the overall first communication quality of the satellite network and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, uses a hybrid utility evaluation function to determine the function value of the ground station when deployed at each candidate location, and determines the target location of the ground station within the preset area based on each function value, may include the following steps: Step 302: Obtain the communication demand set and the multiple ground station deployment sets when the ground stations are deployed at each candidate location; the communication demand set includes at least one pair of user terminals that need to communicate, and each ground station deployment set includes all ground stations deployed in different locations in the satellite network.

[0064] In this step, when communicating via satellite network, there are pairs of user terminals with communication needs. The set of these user terminal pairs is the communication needs set. At the same time, when each ground station is deployed at its different candidate locations, it can obtain the ground station deployment set formed by the deployment of other ground stations. In this way, each ground station can obtain multiple ground station deployment sets, and each ground station deployment set includes all ground stations. The deployment locations of all ground stations in different ground station deployment sets are not all the same.

[0065] Step 304: For each ground station deployment set, determine the communication path set for each user terminal pair under the ground station deployment set based on the satellite network of all user terminals under the ground station deployment set; the communication path set includes multiple communication paths between user terminals when communicating through satellite and ground stations.

[0066] In this step, for ease of explanation, a ground station deployment set will be used as an example. After obtaining the ground station deployment set, a satellite network can be built based on the ground station deployment set, the satellite, and all user terminals requiring communication. This will yield multiple communication paths for each user terminal pair communicating through the ground stations and satellites within the ground station deployment set. These multiple communication paths for each user terminal pair will then be used as its corresponding communication path set, thus obtaining the communication path set for each user terminal pair within the ground station deployment set.

[0067] Step 306: Based on the communication performance parameters of each communication path in the communication path set of each user terminal pair, determine the overall first communication quality of all user terminal pairs under the ground station deployment set and the first communication path diversity parameters of all user terminal pairs under the ground station deployment set.

[0068] In this step, communication quality and communication path diversity parameters are two functional terms used to construct the hybrid utility evaluation function. The process of constructing the hybrid utility evaluation function using these two terms will be explained below. Specifically, the hybrid utility evaluation function can be constructed by first modeling the satellite network topology, then modeling the communication quality of the communication paths, and determining the communication path diversity parameters through the communication paths. Finally, the hybrid utility evaluation function is constructed based on the communication quality and communication path diversity parameters. These processes will be explained separately below.

[0069] (1) Modeling the satellite network topology: Satellite networks / satellite internet consist of three types of nodes: satellite nodes, ground station nodes, and ground user terminal nodes. The satellites can be low-Earth orbit satellites, and the ground station nodes can be relay nodes. The collection of satellite nodes... S It can be represented as: ; in, s i The first in the set of satellite nodes i One satellite, N s This indicates the number of satellites included in the set of satellite nodes.

[0070] Set of ground station nodes W It can be represented as: ; in, w i The first term in the set of ground station nodes represents the... i One ground station, N w This indicates the number of ground stations included in the set of ground station nodes.

[0071] Collection of user terminal nodes U It can be represented as: ; in, u i The first term in the set of user terminal nodes i One user terminal. N u This indicates the number of user terminals included in the set of user terminal nodes.

[0072] At any time t The topology modelable diagram of a satellite network can be represented as follows: ,in, , representing a set of nodes, is the union of the sets of nodes. This refers to the set of valid links currently in existence, including inter-satellite links and satellite-to-ground links. If a node... and If a link exists between them, then... Otherwise .

[0073] (2) Model the communication quality of the communication path (the following explanation uses path delay as an example to illustrate the communication quality): In this embodiment, the communication mainly refers to the communication between two user terminals that have communication needs. These two user terminals with communication needs can be referred to as a user terminal pair. It is assumed that the user terminal pair with communication needs can constitute a communication need set. P , can be represented as: ; in, p i Represents a set P The first in i One user terminal pair M Represents a set P The number of user terminal pairs included. Each communicating user terminal pair can be represented as: ; Among them, the i Each user terminal corresponds to the source node and destination node Both belong to the composition. At that moment t , No. i Each user terminal of k Non-overlapping shortest paths can form a set of communication paths. R i ( t ), can be represented as: ; Among them, each path / number j Path It is an ordered set of paths consisting of several links, including inter-satellite links and satellite-to-ground links, which can be represented as: ; in, Indicates the first j Any link in the set of communication paths of a path.

[0074] The communication path set includes multiple communication paths. The delay of each communication path can be obtained by summing the delays of each hop along the communication path. Specifically, the delay of the first path is... i In the communication path set of the nth user terminal pair j The path at time t Total delay As shown in the formula below: ; in, For link At any moment t The delay, for the first jThe total delay of the entire path can be obtained by summing the delays of each link in the path. This allows for quantification of the user terminal's response to the path. exist t Moment k The path delay variation between shortest paths is defined. k— Average path delay To indicate the first i Each user terminal is in t The average path delay at time t is calculated using the following formula: ; in, Indicates the first i The set of communication paths for a pair of user terminals k The first communication path j The path at time t Total delay.

[0075] (3) Modeling of communication path diversity parameters (taking the communication path diversity parameter as a feasible path as an example): In large-scale satellite internet, numerous feasible paths exist between pairs of communicating user terminals. Without proper filtering, this leads to resource waste and a surge in routing computation overhead. Therefore, a [missing information] is introduced... —The concept of a feasible path is used to limit the reasonable range of path delay. Specifically, if the total delay of a communication path does not exceed a certain percentage of the shortest path delay... times ( If the value is greater than 1, then the communication path is considered to have acceptable quality of service and can be added. —A set of feasible paths.

[0076] The feasible path set for each pair of communicating user terminals can be obtained in the above manner. Assuming the first... i Each user terminal exist t The set of feasible paths at time t is denoted as Then the first i Each user terminal exist t The average time delay can be expressed as: ; in, Indicates the first i Each user terminal at time t The average delay of the set of feasible paths. Indicates the first i Each user terminal at time t The paradigm of the set of feasible paths, also known as the communication path diversity parameter, represents the number of feasible paths. Indicates the firsti In the set of feasible paths for each user terminal pair, each feasible path at time... t Total delay.

[0077] (4) Construct a hybrid utility evaluation function based on communication quality and communication path diversity parameters: To enhance the communication performance of satellite internet in dynamic environments and its resilience under abnormal conditions (such as link failures or attacks), the goal is to minimize the average path delay of all user terminal pairs communicating in the satellite network while meeting the limitations on the number of ground stations required, and simultaneously improve the diversity of communication paths. This will enhance the satellite network's adaptability to link fluctuations, congestion, and sudden demands. Considering the dynamic evolution of the satellite network topology over time, the optimization objective should cover the performance over the entire time period [1,T]. Based on this, a hybrid utility evaluation function is constructed, including parameters for communication quality and communication path diversity. That is, a multi-objective optimization function is constructed, comprehensively considering the two key indicators of path delay and path diversity. The hybrid utility evaluation function is shown below: ; This formula describes a typical multi-objective combinatorial optimization problem. Essentially, it involves selecting the ground station deployment set that achieves the optimal balance between communication quality and path diversity from all possible ground station deployment sets. The locations of the ground stations in different deployment sets are not entirely the same. W This represents any set of ground station deployments. n This indicates the number of ground stations to be deployed, that is, the number of ground stations included in each ground station deployment set. n Greater than or equal to 1. L t ( W ) indicates that the satellite network is t The overall communication quality at any given time (such as the average path delay of the entire satellite network) is a key parameter in service quality, directly measuring the overall communication efficiency of the satellite network. D t ( W ) indicates that the satellite network is t The communication path diversity parameter is used to measure whether user terminals can use multiple non-overlapping paths to communicate at different times. Its goal is to improve routing flexibility and anti-interference ability, reduce the risk of path congestion, and provide structural support for congestion control and load balancing. The introduction of communication path diversity not only helps optimize normal communication, but also provides multiple alternative paths to cope with emergencies when the network is attacked or the link fails, thereby improving the overall resilience of the satellite network.

[0078] Through the above process of constructing the hybrid utility evaluation function, it can be seen that under a certain ground station deployment set, the communication performance parameter of each communication path in the communication path set of each user terminal pair can be the total delay of each communication path. The communication quality of all user terminal pairs under the ground station deployment set can be determined by the total delay of each communication path in the communication path set of each user terminal pair, that is, the first communication quality of the satellite network as a whole under the ground station deployment set.

[0079] Optionally, if each communication path in the communication path set of each user terminal pair includes at least one communication link, then determining the overall first communication quality of all user terminal pairs under the ground station deployment set based on the communication performance parameters of each communication path in the communication path set of each user terminal pair may include: For each communication path in the communication path set for each user terminal pair, the total path delay corresponding to the communication path is determined based on the communication delay of each communication link in the communication path. The average path delay corresponding to the communication path set of each user terminal pair is determined based on the total path delay of each communication path in the communication path set of each user terminal pair. Based on the average path delay of each user terminal pair, the overall average path delay of all user terminal pairs under the ground station deployment set is determined, and the overall average path delay is used as the first communication quality of all user terminal pairs under the ground station deployment set.

[0080] As mentioned in (2) above regarding the modeling of communication quality for communication paths, for each user terminal pair, the communication delay corresponding to each communication link in each communication path of the user terminal pair's communication path set can be obtained first. Then, the communication delays corresponding to each communication link in each communication path are summed to obtain the total path delay corresponding to each communication path. After that, the total path delay of each communication path in the user terminal pair's communication path set is averaged to obtain the average path delay corresponding to the user terminal pair's communication path set. Then, the average path delays of all user terminal pairs can be summed to obtain the overall average path delay of all user terminal pairs under the ground station deployment set. It is understandable that the above statistics represent the overall average path delay of all ground user terminals at a certain moment. The overall average path delay at a certain moment can be directly used as the first communication quality of all user terminals in the ground station deployment set. Alternatively, the overall average path delay of all ground user terminals at each moment within the time period T can be obtained in this way, and then summed to obtain the final overall average path delay, which can be used as the first communication quality of all user terminals in the ground station deployment set. This approach takes into account the dynamic evolution of the satellite network topology over time, making the final determined ground station deployment set more accurate.

[0081] Similarly, through the process of constructing the hybrid utility evaluation function described above, it can be seen that under a certain ground station deployment set, the feasible path set for each user terminal pair can be determined by the communication performance parameters of each communication path in the communication path set of each user terminal pair. The communication performance parameter of each communication path can be the total delay of each communication path. The communication path diversity parameter of all user terminal pairs under the ground station deployment set can be determined by the feasible path set of each user terminal pair, that is, the first communication path diversity parameter of the satellite network under the ground station deployment set.

[0082] Optionally, if each communication path in the communication path set of each user terminal pair includes at least one communication link, then determining the first communication path diversity parameter for all user terminal pairs deployed in the ground station set based on the communication performance parameters of each communication path in the communication path set of each user terminal pair may include: For each communication path in the communication path set for each user terminal pair, the total path delay corresponding to the communication path is determined based on the communication delay of each communication link in the communication path. Then, each communication path in the communication path set for the user terminal pair is filtered based on the total path delay of each communication path to determine the feasible path set corresponding to the user terminal pair. The number of communication paths included in the feasible path set is less than the number of communication paths included in the communication path set. Based on the set of feasible paths for each user terminal pair, determine the number of feasible paths corresponding to each user terminal pair; the aforementioned feasible paths are communication paths in the set of feasible paths that do not share inter-satellite links and satellite-to-ground links. Based on the number of feasible paths corresponding to each user terminal pair, the total number of feasible paths for all user terminal pairs under the ground station deployment set is determined, and the total number of feasible paths is used as the first communication path diversity parameter for all user terminal pairs under the ground station deployment set.

[0083] As mentioned in the modeling of communication path diversity parameters in (3) above, for the communication path set of each user terminal pair, the communication delay corresponding to each communication link of each communication path in the communication path set of the user terminal pair can be obtained first. Then, the communication delay corresponding to each communication link of each communication path is summed to obtain the total path delay corresponding to each communication path. Then, based on the total path delay of each communication path in the communication path set, feasible paths are selected from each communication path, and the selected feasible paths are combined to form a feasible path set. The selection process of feasible paths can be implemented in any of the following ways (the one given in (3) above is only an example selection): Method 1: Compare the total path delay of each communication path in the communication path set with a delay threshold (set according to actual situation), remove the communication paths with total path delays greater than the delay threshold, and retain the communication paths with total path delays less than or equal to the delay threshold as feasible paths, thus forming a feasible path set.

[0084] Method 2: Sort the total path delay of each communication path in the communication path set from largest to smallest, and truncate a preset number of total path delays from the end of the sorting results. Keep the communication paths corresponding to these truncated total path delays as feasible paths to form a feasible path set.

[0085] Method 3: Determine the minimum total delay based on the total path delay of each communication path; based on the minimum total delay and the total path delay of each communication path, filter each communication path to determine at least one feasible path, and combine all feasible paths to determine the set of feasible paths corresponding to the user terminal. The minimum total delay and preset parameters can be used in this process. ( >1) Perform a product operation to obtain the product. Then, compare the total path delay of each communication path in the communication path set with the product. Remove the communication paths with a total path delay greater than the product and retain the communication paths with a total path delay less than or equal to the product as feasible paths, thus forming a feasible path set.

[0086] The feasible path set for each user terminal pair can be obtained using the above method. Furthermore, the number of feasible paths included in the feasible path set for each user terminal pair can be obtained through statistical analysis. It should be noted that each feasible path set can include multiple feasible paths, and these multiple feasible paths within the same set do not share inter-satellite links or satellite-to-ground links; that is, the multiple feasible paths are non-overlapping shortest communication paths.

[0087] Subsequently, the number of feasible paths included in the feasible path set of all user terminal pairs can be summed to obtain the overall number of feasible paths. It is understood that the above statistics represent the overall number of feasible paths for all ground user terminals at a specific moment. This number can be directly used as the first communication path diversity parameter for all user terminal pairs deployed at ground stations. Alternatively, the overall number of feasible paths for all ground user terminals at various moments within the time period T can be obtained using the above method, and then summed to obtain the final overall number of feasible paths. This final number can then be used as the overall first communication path diversity parameter for all user terminal pairs deployed at ground stations. This approach takes into account the dynamic evolution of the satellite network topology over time, making the final determined ground station deployment set more accurate.

[0088] In summary, the above process yields the overall first communication quality and the first communication path diversity parameters for all user terminals within the given ground station deployment set. Similarly, this method can be used to obtain the overall first communication quality and the first communication path diversity parameters for all user terminals within any ground station deployment set.

[0089] Step 308: Based on the overall first communication quality of all user terminals under the ground station deployment set and the first communication path diversity parameter of all user terminals under the ground station deployment set, a hybrid utility evaluation function is used to determine the function value of the ground station under the ground station deployment set, and based on the function value of the ground station under each ground station deployment set, the function value of the ground station when deployed at each candidate location is determined.

[0090] In this step, after obtaining the overall first communication quality of all user terminals under a certain ground station deployment set and the first communication path diversity parameter of all user terminals under that ground station deployment set, the ratio part of the hybrid utility evaluation function constructed in (4) above can be substituted to obtain the ratio of the first communication quality to the first communication path diversity parameter under that ground station deployment set. This ratio is the function value under that ground station deployment set. In this way, the function value of a certain ground station under each ground station deployment set can be obtained. Then, the overall minimization solution is performed through the hybrid utility evaluation function constructed in (4) above, that is, minimizing the first communication quality and maximizing the first communication path diversity parameter. This can minimize the overall ratio / function value, thereby determining the ground station deployment set with the minimum function value. The deployment position of the ground station in the ground station deployment set is the optimal deployment position of the ground station. Thus, the optimal target position of the ground station deployment can be solved.

[0091] It is understandable that although the above explanation uses a single ground station as an example, the optimal target location for deployment can also be determined for other ground stations in the same way.

[0092] In addition, although steps 302 to 308 are described in relation to the process of finding the optimal position of the ground station under each candidate position in step 104, the process of finding the optimal target position of the ground station by dynamic hierarchical solution in steps 202 to 208 can also be performed in the manner described in this embodiment, and will not be repeated hereafter.

[0093] In this embodiment, the overall communication quality and communication diversity parameters of the satellite network are determined by using the performance parameters of each communication path in the communication path set of all user terminal pairs communicating in the satellite network. This consideration of all user terminal pairs makes the determined ground station deployment scheme more comprehensive and reliable. Simultaneously, considering the overall communication quality and communication diversity parameters of the satellite network during ground station deployment also enhances the resilience and reliability of the final deployed ground stations. Furthermore, the average latency of each user terminal pair is determined by the total latency of each communication link in the communication path set of each communication path under the ground station deployment set. Based on this, the overall average latency of all user terminal pairs is determined to characterize the communication quality of the satellite network under that ground station deployment set. This method provides a more accurate determination of the communication quality of the satellite network under each ground station deployment set, enabling accurate ground station deployment. Simultaneously, the feasible path set for each user terminal pair is filtered by the total delay of each communication link in the communication path set of each communication path in the ground station deployment set. The communication path diversity parameter of the satellite network in the ground station deployment set is characterized by the number of feasible paths in the feasible path set of all user terminal pairs. The communication path diversity of the satellite network in each ground station deployment set is determined in this way, which is more accurate and allows for accurate deployment of ground stations. Furthermore, the minimum delay is determined by the total delay of each communication path in the communication path set, and feasible paths are filtered by the minimum delay. This can improve the communication path diversity while ensuring communication quality, thereby effectively improving the survivability and reliability of the finally deployed ground stations.

[0094] The ground station deployment device provided by the present invention is described below. The ground station deployment device described below and the ground station deployment method described above can be referred to in correspondence.

[0095] Figure 4 This is a structural schematic diagram of the ground station deployment device provided by the present invention. See also: Figure 4 As shown, the device may include: The acquisition module 410 is used to acquire at least one ground station to be deployed in the preset area and the geographic boundary information corresponding to the preset area; The ground station deployment module 420 is used to determine multiple candidate locations for each ground station based on geographical boundary information when the ground station is deployed within a preset area, and to determine the function value of the ground station when it is deployed at each candidate location using a hybrid utility evaluation function based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, and to determine the target location of the ground station within the preset area based on each function value. The aforementioned hybrid utility evaluation function includes a first function term and a second function term. The first function term is used to characterize the overall communication quality of the satellite network, and the second function term is used to characterize the communication path diversity parameter of the satellite network. The hybrid utility evaluation function is a function for solving the optimal communication quality and / or the optimal communication path diversity parameter. The satellite network includes satellites, ground stations, and user terminals.

[0096] In one embodiment, the ground station deployment module 420 includes: The parameter acquisition unit is used to acquire the initial search granularity interval, the target search granularity interval, and the search granularity scaling factor. The partitioning unit is used to divide the preset area into grids based on the initial search granularity interval and geographic boundary information, and to determine multiple first candidate locations corresponding to the deployment of ground stations within the preset area. The calculation unit is used to determine the function value of the ground station when it is deployed at each of the first candidate locations based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each of the first candidate locations, and to determine the second candidate location of the ground station within the preset area based on each function value. The ground station deployment unit is used to determine the target location of the ground station within the preset area based on the second candidate location deployed by the ground station within the preset area, the target search granularity interval, and the search granularity scaling factor.

[0097] Optionally, the aforementioned ground station deployment unit is specifically used to detect whether the initial search granularity interval of the current iteration round reaches the target search granularity interval; if the initial search granularity interval of the current iteration round does not reach the target search granularity interval, then a candidate region is determined based on the second candidate position, and an intermediate search granularity interval is determined based on the initial search granularity interval and the search granularity scaling factor; the candidate region is used as a new preset region, and the intermediate search granularity interval is used as a new initial search granularity interval, and the step of dividing the preset region into grids based on the initial search granularity interval and geographic boundary information, and determining multiple first candidate positions corresponding to the deployment of the ground station within the preset region is repeated until the initial search granularity interval of the current iteration round reaches the target search granularity interval, thus determining the target position for the deployment of the ground station within the preset region; the intermediate search granularity interval of the current iteration round is less than the initial search granularity interval of the current iteration round.

[0098] In one embodiment, the ground station deployment module 420 further includes: The set acquisition unit is used to acquire the communication demand set and the multiple ground station deployment sets when the ground stations are deployed at each candidate location; the communication demand set includes at least one pair of user terminals that need to communicate, and each ground station deployment set includes all ground stations deployed in different locations in the satellite network; The communication path set determination unit is used to determine the communication path set for each user terminal pair under the ground station deployment set based on the satellite network of all user terminal pairs under the ground station deployment set; the communication path set includes multiple communication paths between user terminal pairs when communicating through satellite and ground stations; The parameter determination unit is used to determine the overall first communication quality of all user terminal pairs under the ground station deployment set and the first communication path diversity parameter of all user terminal pairs under the ground station deployment set based on the communication performance parameters of each communication path in the communication path set of each user terminal pair. The aforementioned ground station deployment unit is also used to determine the function value of the ground station under the ground station deployment set by using a hybrid utility evaluation function based on the overall first communication quality of all user terminals under the ground station deployment set and the first communication path diversity parameter of all user terminals under the ground station deployment set, and to determine the function value of the ground station when deployed at each candidate location based on the function value of the ground station under each ground station deployment set.

[0099] Optionally, each communication path includes at least one communication link. The parameter determination unit is specifically used to determine the total path delay corresponding to each communication path in the communication path set for each user terminal pair based on the communication delay of each communication link in the communication path set; determine the average path delay corresponding to each user terminal pair's communication path set based on the total path delay of each communication path in the communication path set for each user terminal pair; and determine the overall average path delay of all user terminal pairs under the ground station deployment set based on the average path delay of each user terminal pair, and use the overall average path delay as the first overall communication quality of all user terminal pairs under the ground station deployment set.

[0100] Optionally, each communication path includes at least one communication link. The parameter determination unit is specifically used to determine the total path delay corresponding to each communication path in the communication path set for each user terminal pair based on the communication delay of each communication link in the communication path set, and to filter each communication path in the communication path set for the user terminal pair based on the total path delay of each communication path to determine the feasible path set corresponding to the user terminal pair; the number of communication paths included in the feasible path set is less than the number of communication paths included in the communication path set; the number of feasible paths corresponding to each user terminal pair is determined based on the feasible path set for each user terminal pair; the feasible paths are communication paths in the feasible path set that do not share inter-satellite links and satellite-to-ground links; the number of feasible paths corresponding to each user terminal pair is used to determine the overall number of feasible paths for all user terminal pairs under the ground station deployment set, and the overall number of feasible paths is used as the first communication path diversity parameter for all user terminal pairs under the ground station deployment set.

[0101] Optionally, the parameter determining unit is specifically used to determine the minimum total delay among the total path delays of each communication path; to filter each communication path based on the minimum total delay and the total path delay of each communication path, to determine at least one feasible path, and to combine all feasible paths to determine the set of feasible paths corresponding to the user terminal.

[0102] It should be noted that the apparatus provided in this embodiment of the invention can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0103] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communications bus 540, wherein the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communications bus 540. The processor 510 can call logical instructions in the memory 530 to execute a ground station deployment method. This method includes: acquiring at least one ground station to be deployed within a preset area and the corresponding geographical boundary information of the preset area; for each ground station, determining multiple candidate locations corresponding to the ground station's deployment within the preset area based on the geographical boundary information; and determining the function value of the ground station's deployment at each candidate location using a hybrid utility evaluation function based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location; and determining the target location of the ground station's deployment within the preset area based on each function value; wherein the hybrid utility evaluation function includes a first function term and a second function term, the first function term characterizing the overall communication quality of the satellite network, the second function term characterizing the communication path diversity parameter of the satellite network, and the hybrid utility evaluation function is a function for solving for the optimal communication quality and / or the optimal communication path diversity parameter; the satellite network includes satellites, ground stations, and user terminals.

[0104] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the ground station deployment method provided by the above methods. The method includes: acquiring at least one ground station to be deployed in a preset area and the geographic boundary information corresponding to the preset area; for each ground station, determining multiple candidate locations corresponding to the ground station deployment in the preset area based on the geographic boundary information, and determining the function value of the ground station deployment in each candidate location using a hybrid utility evaluation function based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed in each candidate location, and determining the target location of the ground station deployment in the preset area based on each function value; wherein the hybrid utility evaluation function includes a first function term and a second function term, the first function term being used to characterize the overall communication quality of the satellite network, the second function term being used to characterize the communication path diversity parameter of the satellite network, and the hybrid utility evaluation function being a function for solving the optimal communication quality and / or the optimal communication path diversity parameter, and the satellite network including satellites, ground stations, and user terminals.

[0106] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program is implemented to perform the ground station deployment method provided by the above methods. The method includes: acquiring at least one ground station to be deployed in a preset area and the geographic boundary information corresponding to the preset area; for each ground station, determining multiple candidate locations corresponding to the ground station deployment in the preset area based on the geographic boundary information; and determining the function value of the ground station deployment in each candidate location using a hybrid utility evaluation function based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed in each candidate location, and determining the target location of the ground station deployment in the preset area based on each function value; wherein the hybrid utility evaluation function includes a first function term and a second function term, the first function term being used to characterize the overall communication quality of the satellite network, the second function term being used to characterize the communication path diversity parameter of the satellite network, and the hybrid utility evaluation function being a function for solving the optimal communication quality and / or the optimal communication path diversity parameter, and the satellite network including satellites, ground stations, and user terminals.

[0107] The device embodiments described above are merely illustrative. 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 modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0108] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A ground station deployment method, characterized in that, include: Obtain at least one ground station to be deployed within a preset area and the geographical boundary information corresponding to the preset area; For each ground station, based on the geographical boundary information, multiple candidate locations corresponding to the deployment of the ground station within the preset area are determined. Based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each of the candidate locations, a hybrid utility evaluation function is used to determine the function value of the ground station when it is deployed at each of the candidate locations. Based on each of the function values, the target location of the ground station within the preset area is determined. The hybrid utility evaluation function includes a first function term and a second function term. The first function term is used to characterize the overall communication quality of the satellite network, and the second function term is used to characterize the communication path diversity parameter of the satellite network. The hybrid utility evaluation function is a function for solving the optimal communication quality and / or the optimal communication path diversity parameter. The satellite network includes satellites, ground stations, and user terminals.

2. The ground station deployment method according to claim 1, characterized in that, The step of determining multiple candidate locations corresponding to the deployment of the ground station within the preset area based on the geographical boundary information, and determining the function value of the ground station at each candidate location using a hybrid utility evaluation function based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location, and determining the target location of the ground station within the preset area based on each function value, includes: Obtain the initial search granularity interval, the target search granularity interval, and the search granularity scaling factor; The preset area is divided into grids based on the initial search granularity interval and the geographic boundary information to determine multiple first candidate locations corresponding to the deployment of the ground station within the preset area; Based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each of the first candidate locations, the function value of the ground station when deployed at each of the first candidate locations is determined using the hybrid utility evaluation function, and the second candidate location of the ground station within the preset area is determined based on each of the function values. The target location of the ground station within the preset area is determined based on the second candidate location deployed by the ground station within the preset area, the target search granularity interval, and the search granularity scaling factor.

3. The ground station deployment method according to claim 2, characterized in that, The step of determining the target location of the ground station deployed within the preset area based on the second candidate location deployed by the ground station within the preset area, the target search granularity interval, and the search granularity scaling factor includes: Detect whether the initial search granularity interval of the current iteration round has reached the target search granularity interval; If the initial search granularity interval of the current iteration round does not reach the target search granularity interval, then the candidate region is determined according to the second candidate position, and the intermediate search granularity interval is determined according to the initial search granularity interval and the search granularity scaling factor. The candidate region is used as a new preset region, and the intermediate search granularity interval is used as a new initial search granularity interval. The process of dividing the preset region into grids based on the initial search granularity interval and the geographic boundary information, and determining multiple first candidate locations corresponding to the deployment of the ground station within the preset region, is repeated until the initial search granularity interval of the current iteration reaches the target search granularity interval. The target location for the deployment of the ground station within the preset region is then determined. The intermediate search granularity interval of the current iteration is less than the initial search granularity interval of the current iteration.

4. The ground station deployment method according to claim 1, characterized in that, The step of determining the function value of the ground station at each of the candidate locations based on the overall first communication quality of the satellite network and the first communication path diversity parameter of the satellite network when the ground station is deployed at each of the candidate locations, using a hybrid utility evaluation function, includes: Obtain a set of communication requirements and multiple ground station deployment sets when the ground stations are deployed at each of the candidate locations; the set of communication requirements includes at least one pair of user terminals that need to communicate, and each ground station deployment set includes all ground stations deployed in different locations in the satellite network; For each of the ground station deployment sets, a set of communication paths for each user terminal pair under the ground station deployment set is determined based on the satellite network of all user terminal pairs under the ground station deployment set; the set of communication paths includes multiple communication paths between the user terminal pairs when communicating through satellite and ground stations; Based on the communication performance parameters of each communication path in the communication path set of each user terminal pair, determine the overall first communication quality of all user terminal pairs under the ground station deployment set and the first communication path diversity parameter of all user terminal pairs under the ground station deployment set. Based on the overall first communication quality of all user terminals under the ground station deployment set and the first communication path diversity parameter of all user terminals under the ground station deployment set, the hybrid utility evaluation function is used to determine the function value of the ground station under the ground station deployment set, and based on the function value of the ground station under each ground station deployment set, the function value of the ground station when deployed at each candidate location is determined.

5. The ground station deployment method according to claim 4, characterized in that, Each of the communication paths includes at least one communication link. Determining the overall first communication quality of all user terminal pairs within the ground station deployment set based on the communication performance parameters of each communication path in the communication path set for each user terminal pair includes: For each communication path in the communication path set for each user terminal pair, the total path delay corresponding to the communication path is determined based on the communication delay of each communication link in the communication path. The average path delay corresponding to the communication path set of each user terminal pair is determined based on the total path delay of each communication path in the communication path set of each user terminal pair. Based on the path average delay of each user terminal pair, the overall path average delay of all user terminal pairs under the ground station deployment set is determined, and the overall path average delay is used as the first communication quality of all user terminal pairs under the ground station deployment set.

6. The ground station deployment method according to claim 4, characterized in that, Each of the communication paths includes at least one communication link. The step of determining the first communication path diversity parameter for all user terminal pairs under the ground station deployment set, based on the communication performance parameters of each communication path in the communication path set for each user terminal pair, includes: For each communication path in the communication path set for each user terminal pair, the total path delay corresponding to the communication path is determined based on the communication delay of each communication link in the communication path. Then, each communication path in the communication path set for the user terminal pair is filtered based on the total path delay of each communication path to determine the feasible path set corresponding to the user terminal pair. The number of communication paths included in the feasible path set is less than the number of communication paths included in the communication path set. Based on the set of feasible paths for each user terminal pair, determine the number of feasible paths corresponding to each user terminal pair; the feasible paths are communication paths in the set of feasible paths that do not share inter-satellite links and satellite-to-ground links. Based on the number of feasible paths corresponding to each user terminal pair, the total number of feasible paths for all user terminal pairs under the ground station deployment set is determined, and the total number of feasible paths is used as the first communication path diversity parameter for all user terminal pairs under the ground station deployment set.

7. The ground station deployment method according to claim 6, characterized in that, The step of filtering each communication path in the communication path set of the user terminal pair based on the total path delay of each communication path to determine the feasible path set corresponding to the user terminal pair includes: The minimum total delay is determined based on the total path delay of each of the communication paths; Based on the minimum total delay and the total path delay of each communication path, each communication path is filtered to determine at least one feasible path, and all the feasible paths are combined to determine the set of feasible paths corresponding to the user terminal.

8. A ground station deployment device, characterized in that, include: The acquisition module is used to acquire at least one ground station to be deployed within a preset area and the geographical boundary information corresponding to the preset area; The ground station deployment module is used to determine, for each ground station, multiple candidate locations corresponding to the deployment of the ground station within the preset area based on the geographical boundary information, and to determine the function value of the ground station at each candidate location based on the first communication quality of the satellite network as a whole and the first communication path diversity parameter of the satellite network when the ground station is deployed at each candidate location using a hybrid utility evaluation function, and to determine the target location of the ground station within the preset area based on each function value. The hybrid utility evaluation function includes a first function term and a second function term. The first function term is used to characterize the overall communication quality of the satellite network, and the second function term is used to characterize the communication path diversity parameter of the satellite network. The hybrid utility evaluation function is a function for solving the optimal communication quality and / or the optimal communication path diversity parameter. The satellite network includes satellites, ground stations, and user terminals.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the ground station deployment method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the ground station deployment method as described in any one of claims 1 to 7.

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