Cooperative communication control method and system for digital interphone and satellite telephone

Abstract

The invention relates to the technical field of cooperative communication, in particular to a digital interphone and satellite telephone cooperative communication control method and system, and the method comprises the steps: obtaining the working time sequence of a geophysical exploration instrument and the attribute information of each digital interphone; dividing the digital interphones into a first interfered group and a second interfered group according to the attribute information; establishing an expected link available state sequence according to the working time sequence; incorporating the voice frame sequence into a first or second co-processing queue; performing time correspondence on the voice frames in the first co-processing queue and an expected link available state sequence to obtain a target voice frame sequence, and forwarding the target voice frame sequence to a second interfered group through a satellite link or an intercom link; and according to the expected link available state sequence corresponding to the first interfered group, performing link selection sending control on the voice frames in the second cooperative processing queue. According to the invention, the problem of unstable talkback communication under the condition of strong transient electromagnetic interference is overcome, and the reliability and continuity of on-site voice communication are improved.

Description

Technical Field

[0001] This invention relates to the field of collaborative communication technology, specifically a method and system for collaborative communication control between a digital walkie-talkie and a satellite phone. Background Technology

[0002] In geological exploration sites, geophysical exploration equipment such as transient electromagnetic methods and controlled-source audio-frequency magnetotellurics (AMT) devices are frequently used. These devices generate significant transient electromagnetic interference during operation. Current technologies primarily focus on the impact of this transient electromagnetic interference on the quality of the exploration data itself, with less attention paid to its impact on the voice wireless communication links upon which field operations rely.

[0003] Digital walkie-talkies are the primary communication tool for collaborative operations in localized areas, but their operating frequency bands have limited immunity to interference. Under strong transient electromagnetic interference, they are prone to problems such as intermittent voice transmission and a sharp drop in signal-to-noise ratio, resulting in the inability to clearly convey critical instructions. Satellite phones are relatively less affected by near-field transient electromagnetic interference from the ground, and their communication is more stable. However, satellite phones typically only support point-to-point or small-scale group calls and cannot replace walkie-talkies for rapid group dispatch. In scenarios with periodic and strong transient electromagnetic interference, simply having digital walkie-talkies and satellite phones coexist cannot reliably guarantee the transmission of critical instructions during periods of interference. Summary of the Invention

[0004] (1) Technical problems to be solved The purpose of this invention is to provide a method and system for coordinated communication control between digital walkie-talkies and satellite phones. In environments with strong transient electromagnetic interference, such as geological exploration, the method overcomes the limitations of digital walkie-talkies and satellite phones through coordinated control, thereby improving the overall reliability of on-site communication.

[0005] (2) Technical solution To achieve the above objectives, in one aspect, the present invention provides a method for coordinated communication control between a digital walkie-talkie and a satellite phone, the method comprising: The system acquires the operating timing sequence of geophysical exploration instruments, including the transmission cycle and pulse width; acquires the attribute information of each digital walkie-talkie, including the walkie-talkie number and its corresponding personnel role information; divides each digital walkie-talkie into a first interference group and a second interference group based on the attribute information; and establishes a sequence of expected link availability states based on the operating timing sequence. When the converged communication gateway receives a voice frame sequence from a digital walkie-talkie, it includes the voice frame sequence from the first interference group into the first collaborative processing queue and the voice frame sequence from the second interference group into the second collaborative processing queue. The voice frames in the first collaborative processing queue are matched with the expected link availability status sequence in time to obtain the target voice frame sequence; the voice frames in the target voice frame sequence are split according to the status identifier in the target voice frame sequence to obtain the satellite channel sequence and the intercom channel sequence; the voice frames in the satellite channel sequence are forwarded to the second interference group through the satellite link, and the voice frames in the intercom channel sequence are forwarded to the second interference group through the intercom link. Based on the expected link availability sequence corresponding to the first interfered group, link selection and transmission control are performed on the voice frames in the second collaborative processing queue; wherein, within the interference time window corresponding to the expected link availability sequence, voice frames sent from the second interfered group to the first interfered group are transmitted via satellite link, while voice frames sent from the second interfered group to the second interfered group are transmitted via intercom link.

[0006] Furthermore, the method for establishing the expected link availability state sequence based on the working timing includes: The working time sequence of the geophysical exploration instrument is discretized to construct a corresponding time sequence sampling sequence with a preset time resolution. According to the launch cycle, the start time point of each launch cycle is determined in the time sequence sampling sequence. Based on the start time point of each cycle, the pulse time interval within each launch cycle is determined according to the pulse width. In the time sequence sampling sequence, time slices falling within each pulse time interval are marked as interference time slices to obtain a set of interference time slices. A preset time margin is extended before and after the set of interference time slots to obtain continuous predicted interference time windows; time slots outside the predicted interference time windows are marked as available time slots; and a sequence of expected link availability states consisting of available and unavailable state identifiers is generated in chronological order.

[0007] Furthermore, the method for obtaining the target speech frame sequence by temporally mapping the speech frames in the first collaborative processing queue to the expected link availability state sequence includes: Obtain the frame timestamp information corresponding to each voice frame that enters the first collaborative processing queue; based on the frame timestamp information, retrieve the time slice status identifier corresponding to each voice frame timestamp in the expected link available status sequence to obtain the link status identifier corresponding to each voice frame. When the duration of a single voice frame overlaps with the predicted interference time window, the link status identifier of that voice frame is determined to be an unavailable status identifier; when the duration of a voice frame does not overlap with the predicted interference time window, the link status identifier of that voice frame is determined to be an available status identifier; the voice frames are associated with their corresponding link status identifiers, and a target voice frame sequence containing link status identifiers is generated according to the original time order of the voice frames.

[0008] Furthermore, the method of forwarding voice frames in the satellite channel sequence to the second jammed group via the satellite link, and forwarding voice frames in the intercom channel sequence to the second jammed group via the intercom link, includes: On the converged communication gateway side, a satellite transmission buffer queue is established for the satellite channel sequence, and an intercom transmission buffer queue is established for the intercom channel sequence; the time sequence tag determined when generating the target voice frame sequence for each voice frame is written into the corresponding voice frame record in the satellite transmission buffer queue and the intercom transmission buffer queue respectively; Based on the preset end-to-end transmission delay parameters of the satellite link and the timing tags of each voice frame, the planned transmission time of each voice frame in the satellite transmission buffer queue is calculated to obtain the satellite transmission time sequence; based on the preset end-to-end transmission delay parameters of the intercom link and the timing tags of each voice frame, the planned transmission time of each voice frame in the intercom transmission buffer queue is calculated to obtain the intercom transmission time sequence. Based on the satellite transmission time sequence and the intercom transmission time sequence, control the satellite link to send the corresponding voice frame to the second interference group, and control the intercom link to send the corresponding voice frame to the second interference group.

[0009] Furthermore, the method of controlling the satellite link to send corresponding voice frames to the second interference group and controlling the intercom link to send corresponding voice frames to the second interference group based on the satellite transmission time sequence and the intercom transmission time sequence includes: Obtain the actual transmission time corresponding to a preset number of initial voice frames and their planned transmission time in the satellite transmission time sequence or the intercom transmission time sequence; calculate the transmission timing jitter parameter corresponding to this voice session based on the time deviation between the actual transmission time and the planned transmission time; determine the link switching protection interval corresponding to this voice session based on the transmission timing jitter parameter. During this voice session, when the transmission sequence of two adjacent voice frames changes in the satellite transmission time sequence and the intercom transmission time sequence, the planned transmission time of the subsequent voice frame is postponed by using the link switching protection interval. Based on the satellite transmission time sequence and the intercom transmission time sequence after the postponement adjustment, the satellite link is controlled to send the corresponding voice frame to the second interference group, and the intercom link is controlled to send the corresponding voice frame to the second interference group.

[0010] Based on the same inventive concept, this invention also provides a digital walkie-talkie and satellite phone collaborative communication control system, the system comprising: The interference modeling module is used to acquire the operating timing of geophysical exploration instruments, including the transmission period and pulse width; acquire the attribute information of each digital walkie-talkie, including the walkie-talkie number and its corresponding personnel role information; divide each digital walkie-talkie into a first interference group and a second interference group based on the attribute information; and establish a sequence of expected link availability states based on the operating timing. The voice access module is used by the converged communication gateway to include the voice frame sequence from the first interference group into the first collaborative processing queue and the voice frame sequence from the second interference group into the second collaborative processing queue when the converged communication gateway receives the voice frame sequence from the digital walkie-talkie. The first splitting module is used to perform time mapping between the voice frames in the first collaborative processing queue and the expected link availability status sequence to obtain the target voice frame sequence; split the voice frames in the target voice frame sequence according to the status identifier in the target voice frame sequence to obtain the satellite channel sequence and the intercom channel sequence; forward the voice frames in the satellite channel sequence to the second interference group through the satellite link, and forward the voice frames in the intercom channel sequence to the second interference group through the intercom link; The second diversion module is used to perform link selection and transmission control on voice frames in the second collaborative processing queue according to the expected link availability state sequence corresponding to the first interference group; wherein, within the interference time window corresponding to the expected link availability state sequence, voice frames sent from the second interference group to the first interference group are transmitted via satellite link, while voice frames sent from the second interference group to the second interference group are transmitted via intercom link.

[0011] Furthermore, the interference modeling module includes: The state sequence generation unit includes: performing time discretization processing on the working time sequence of the geophysical exploration instrument to construct a corresponding time sequence sampling sequence with a preset time resolution; determining the cycle start time point corresponding to each launch cycle in the time sequence sampling sequence according to the launch cycle; determining the pulse time interval within each launch cycle based on the pulse width using the cycle start time point as a reference; and marking time slices falling within each pulse time interval in the time sequence sampling sequence as interference time slices to obtain a set of interference time slices. A preset time margin is extended before and after the set of interference time slots to obtain continuous predicted interference time windows; time slots outside the predicted interference time windows are marked as available time slots; and a sequence of expected link availability states consisting of available and unavailable state identifiers is generated in chronological order.

[0012] Furthermore, the first splitting module includes: The link labeling unit is used to obtain the frame timestamp information corresponding to each speech frame that enters the first collaborative processing queue; and according to the frame timestamp information, to retrieve the time slice status identifier corresponding to each speech frame timestamp in the expected link available status sequence to obtain the link status identifier corresponding to each speech frame. When the duration of a single voice frame overlaps with the predicted interference time window, the link status identifier of that voice frame is determined to be an unavailable status identifier; when the duration of a voice frame does not overlap with the predicted interference time window, the link status identifier of that voice frame is determined to be an available status identifier; the voice frames are associated with their corresponding link status identifiers, and a target voice frame sequence containing link status identifiers is generated according to the original time order of the voice frames.

[0013] Furthermore, the first splitting module includes: A dual-link scheduling unit is used to establish a satellite transmission buffer queue for the satellite channel sequence and an intercom transmission buffer queue for the intercom channel sequence on the converged communication gateway side; and to write the time sequence tag determined when generating the target voice frame sequence of each voice frame into the corresponding voice frame record in the satellite transmission buffer queue and the intercom transmission buffer queue respectively. Based on the preset end-to-end transmission delay parameters of the satellite link and the timing tags of each voice frame, the planned transmission time of each voice frame in the satellite transmission buffer queue is calculated to obtain the satellite transmission time sequence; based on the preset end-to-end transmission delay parameters of the intercom link and the timing tags of each voice frame, the planned transmission time of each voice frame in the intercom transmission buffer queue is calculated to obtain the intercom transmission time sequence. Based on the satellite transmission time sequence and the intercom transmission time sequence, control the satellite link to send the corresponding voice frame to the second interference group, and control the intercom link to send the corresponding voice frame to the second interference group.

[0014] Furthermore, the dual-link scheduling unit includes: The switching protection unit is used to obtain the actual transmission time corresponding to a preset number of initial voice frames and their planned transmission time in the satellite transmission time sequence or the intercom transmission time sequence; calculate the transmission timing jitter parameter corresponding to the current voice session based on the time deviation between the actual transmission time and the planned transmission time; and determine the link switching protection interval corresponding to the current voice session based on the transmission timing jitter parameter. During this voice session, when the transmission sequence of two adjacent voice frames changes in the satellite transmission time sequence and the intercom transmission time sequence, the planned transmission time of the subsequent voice frame is postponed by using the link switching protection interval. Based on the satellite transmission time sequence and the intercom transmission time sequence after the postponement adjustment, the satellite link is controlled to send the corresponding voice frame to the second interference group, and the intercom link is controlled to send the corresponding voice frame to the second interference group.

[0015] (3) Beneficial effects Compared with the prior art, the beneficial effects of the present invention are: Based on the working sequence of geophysical exploration instruments, a sequence of expected link availability is constructed, and voice frames are predicted, diverted, and coordinated for scheduling. This allows voice messages affected by strong transient electromagnetic interference to automatically bypass the intercom link and be transmitted via the satellite link, thereby improving the reliability and continuity of voice communication in environments with strong interference. Attached Figure Description

[0016] Figure 1 This is a flowchart of a digital walkie-talkie and satellite phone collaborative communication control method according to Embodiment 1 of the present invention; Figure 2 This is a block diagram of a digital walkie-talkie and satellite phone collaborative communication control system according to Embodiment 2 of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Before providing examples, it is necessary to describe the application scenarios of this invention. This invention is mainly applied in geological exploration operations, and is particularly suitable for voice-based collaborative communication between personnel working at near-field measuring points and on-site command personnel using transient electromagnetic or other high-pulse emission geophysical instruments. In this scenario, the personnel at near-field measuring points are not too far apart and can share a single digital walkie-talkie terminal.

[0019] Example 1: As Figure 1 As shown, this embodiment provides a method for coordinated communication control between a digital walkie-talkie and a satellite phone, the method comprising: Step S1: Obtain the operating timing sequence of the geophysical exploration instrument, the operating timing sequence including the transmission period and pulse width; obtain the attribute information of each digital walkie-talkie, the attribute information including the walkie-talkie number and its corresponding personnel role information; divide the digital walkie-talkies into a first interference group and a second interference group according to the attribute information; determine the expected link availability state sequence corresponding to the first interference group according to the operating timing sequence; the method for establishing the expected link availability state sequence according to the operating timing sequence includes: The working time sequence of the geophysical exploration instrument is discretized to construct a corresponding time sequence sampling sequence with a preset time resolution. According to the launch cycle, the start time point of each launch cycle is determined in the time sequence sampling sequence. Based on the start time point of each cycle, the pulse time interval within each launch cycle is determined according to the pulse width. In the time sequence sampling sequence, the time slices falling within each pulse time interval are marked as interference time slices to obtain a set of interference time slices.

[0020] A preset time margin is extended before and after the set of interference time slots to obtain continuous predicted interference time windows; time slots outside the predicted interference time windows are marked as available time slots; and a sequence of expected link availability states consisting of available and unavailable state identifiers is generated in chronological order.

[0021] For example, in this embodiment, a transient electromagnetic method device is used as the main detection equipment at the geophysical exploration site. This device transmits transient electromagnetic signals into the ground through a high-power pulse current each time it is excited. Field measurements show that the transmission repetition frequency of this type of equipment under conventional near-surface exploration conditions is usually between 5Hz and 20Hz. In this embodiment, 10Hz is taken as the transmission repetition frequency, corresponding to a transmission period of approximately 100ms. The effective duration of a single transmission pulse is usually on the order of microseconds to milliseconds. In this embodiment, 2ms is taken as the pulse width. Correspondingly, the obtained geophysical exploration instrument working sequence includes continuously recorded transmission period parameters and pulse width parameters. At the same time, the attribute information of all digital walkie-talkies participating in communication at the site is collected, including the unique number of each walkie-talkie and its corresponding personnel role information. The distance to the interference source is determined according to the work content corresponding to the personnel role information, and then the group of walkie-talkies is determined according to the interference influence range. In addition, in the first interfered group, the digital walkie-talkies do not need to conduct intra-group wireless communication, and are relatively close to each other, so only one walkie-talkie is needed to receive messages. For example, in this embodiment, walkie-talkie A1 corresponds to the personnel working at the measurement point near the area where the transmitting electrode is deployed, while walkie-talkies B1 and B2 correspond to the personnel handling data processing and on-site command. Since the personnel corresponding to A1 are in the vicinity of the electromagnetic source for a long time, their wireless communication is subject to significant transient electromagnetic interference at each transmission moment. Therefore, the walkie-talkie corresponding to A1 is classified as the first group affected by interference. The walkie-talkies corresponding to B1 and B2 are farther away from the source and are significantly less affected by transient electromagnetic interference, so they are classified as the second group affected by interference.

[0022] When establishing the expected link availability sequence, the working time sequence of the geophysical exploration instrument is first discretized. Specifically, using 1ms as the preset time resolution (determined based on the instrument's pulse rise / fall time), the continuous time axis is discretized at equal intervals to construct the corresponding time-series sampling sequence. For example, within a 100ms transmission cycle, 100 time sampling points can be obtained. Based on the transmission cycle, the cycle start time point corresponding to each transmission cycle is determined in the time-series sampling sequence, such as 0ms, 100ms, 200ms, 300ms, etc.; using each cycle start time point as a reference, and combined with the pulse width of 2ms, the corresponding pulse time interval from 0ms to 2ms within each transmission cycle can be determined. In the time-series sampling sequence, time slices falling within each pulse time interval are marked as interference time slices. For example, within each 100ms cycle, sampling time slices numbered 0 to 2 are marked as interference time slices, thus forming a periodically occurring set of interference time slices. Considering that transient electromagnetic interference has rising and falling edges during its actual propagation in space, and does not disappear completely immediately at the end of the theoretical pulse, and is also affected by factors such as ground induced current attenuation and field cable coupling, a preset time margin is extended before and after the interference time slice set. In this embodiment, the time margin is 10ms (determined by the field-measured interference attenuation curve, used to cover the actual duration of the interference), so the time slices of 0-12ms in each transmission cycle are included in the predicted interference time window. In each 100ms transmission cycle, the time slices located within the predicted interference time window are identified as unusable; the time slices located after the predicted interference time window, and whose bit error rate is lower than a preset bit error rate threshold (the bit error rate corresponding to the minimum reception quality required to ensure voice intelligibility, determined with reference to the requirements in communication standards (such as DMR)) after multiple cycles are identified as usable, thus forming a sequence of expected link usable states that changes periodically with time.

[0023] Step S2: When the converged communication gateway receives a voice frame sequence from a digital walkie-talkie, it includes the voice frame sequence from the first interfered group in the first collaborative processing queue and the voice frame sequence from the second interfered group in the second collaborative processing queue. After establishing the expected link availability sequence, each digital walkie-talkie on site begins normal voice communication. Walkie-talkie A1 in the first interfered group and walkie-talkies B1 and B2 in the second interfered group all access the converged communication gateway through a 370MHz digital walkie-talkie channel. The converged communication gateway uniformly receives and parses the uplink voice data from each walkie-talkie. In this embodiment, the on-site digital walkie-talkies use a dual-timeslot TDMA system compliant with the DMR standard for voice transmission. Voice data is carried in time slots of approximately 30ms and is sent to the converged communication gateway after being composed into a frame of voice data with a time granularity of approximately 60ms. Correspondingly, the converged communication gateway decodes and buffers the received voice data in frames.

[0024] When a received voice frame comes from walkie-talkie numbered A1, the converged communication gateway determines that the voice frame originates from the first interference group and writes the corresponding voice frame into the first collaborative processing queue in chronological order. When a received voice frame comes from walkie-talkie numbered B1 or B2, the converged communication gateway determines that the voice frame originates from the second interference group and writes the corresponding voice frame into the second collaborative processing queue in chronological order. In this embodiment, the first and second collaborative processing queues are maintained using independent circular buffer structures to temporarily store voice frame data that has not yet entered the link selection and scheduling processing stage. Each voice frame entering the queue simultaneously records its corresponding reception time, walkie-talkie number, and original voice frame sequence number information to ensure complete timing information for subsequent time correspondence, channel splitting, and transmission scheduling.

[0025] Step S3: Time-mapping the speech frames in the first collaborative processing queue with the expected link availability state sequence to obtain the target speech frame sequence; the method for time-mapping the speech frames in the first collaborative processing queue with the expected link availability state sequence to obtain the target speech frame sequence includes: Obtain the frame timestamp information corresponding to each voice frame that enters the first collaborative processing queue; based on the frame timestamp information, retrieve the time slice status identifier corresponding to each voice frame timestamp in the expected link available status sequence to obtain the link status identifier corresponding to each voice frame.

[0026] When the duration of a single voice frame overlaps with the predicted interference time window, the link status identifier of that voice frame is determined to be an unavailable status identifier; when the duration of a voice frame does not overlap with the predicted interference time window, the link status identifier of that voice frame is determined to be an available status identifier; the voice frames are associated with their corresponding link status identifiers, and a target voice frame sequence containing link status identifiers is generated according to the original time order of the voice frames.

[0027] The voice frames in the target voice frame sequence are split according to the status identifier in the target voice frame sequence to obtain the satellite channel sequence and the intercom channel sequence.

[0028] For example, after a voice frame in the first collaborative processing queue enters the link state determination stage, the converged communication gateway first reads the frame timestamp information recorded when each voice frame was written into the first collaborative processing queue. The frame timestamp identifies the start time of the voice frame on the time axis with millisecond-level time precision, and simultaneously determines the duration of the voice frame on the time axis by combining it with the frame length parameter. In this embodiment, the field digital walkie-talkie adopts a dual-slot TDMA system compliant with the DMR standard, and voice data is carried in frames of approximately 60ms. Therefore, each voice frame corresponds to a continuous time interval of approximately 60ms on the time axis.

[0029] The converged communication gateway retrieves the set of time slices corresponding to the duration interval of the voice frame from the previously established expected link availability sequence based on the frame timestamp information, and reads the time slice status identifier corresponding to each time slice in the set of time slices. Under the operating conditions used in this embodiment, the transient electromagnetic device has a transmission repetition rate of 10Hz, corresponding to a transmission period of 100ms; the single pulse width is 2ms, with a 10ms time margin extended before and after. Therefore, within each transmission period, 0–12ms corresponds to the predicted interference time window, and the remaining 12–100ms is the available time window.

[0030] When the duration interval of a single voice frame overlaps with the predicted interference time window within any transmission cycle on the time axis, the link status identifier corresponding to that voice frame is determined to be an unavailable status identifier; when the duration interval of a single voice frame falls entirely within the available time window range of each transmission cycle and does not overlap with any predicted interference time window, the link status identifier corresponding to that voice frame is determined to be an available status identifier. The converged communication gateway associates and marks the voice frames with their corresponding link status identifiers, and generates a target voice frame sequence containing link status identifiers according to the original time order in which the voice frames entered the first collaborative processing queue.

[0031] For example, at a certain moment, walkie-talkie A1 in the first interference group continuously transmits three frames of voice data, with corresponding frame timestamps of 8ms, 70ms, and 135ms, respectively. Correspondingly, the duration of the first voice frame is 8–68ms, overlapping with the predicted interference time window of 0–12ms within the current transmission cycle, and is therefore marked as unavailable. The duration of the second voice frame is 70–130ms, falling entirely within the available time window, and is therefore marked as available. The duration of the third voice frame is 135–195ms, also falling entirely within the available time window of the next transmission cycle, and is therefore also marked as available. In the resulting target voice frame sequence, these three voice frames sequentially correspond to the link status identifiers of "unavailable—available—available".

[0032] The converged communication gateway then performs traffic splitting based on the link status identifier in the target voice frame sequence: voice frames marked as unavailable are written into the satellite channel sequence, and voice frames marked as available are written into the intercom channel sequence. Correspondingly, voice frames in the satellite channel sequence are transmitted to the intercom terminals in the second interference group via the converged communication gateway's satellite communication link, while voice frames in the intercom channel sequence are directly transmitted to the intercom terminals in the second interference group via the 370MHz digital intercom link. This achieves reliable splitting and stable delivery of voice information from the first interference group even under conditions of strong transient electromagnetic interference.

[0033] The method of forwarding voice frames from the satellite channel sequence to the second jammed group via a satellite link, and forwarding voice frames from the intercom channel sequence to the second jammed group via an intercom link, includes: On the converged communication gateway side, a satellite transmission buffer queue is established for the satellite channel sequence, and an intercom transmission buffer queue is established for the intercom channel sequence; the timing tag determined when generating the target voice frame sequence for each voice frame is written into the corresponding voice frame record in the satellite transmission buffer queue and the intercom transmission buffer queue, respectively.

[0034] Based on the preset end-to-end transmission delay parameters of the satellite link and the timing tags of each voice frame, the planned transmission time of each voice frame in the satellite transmission buffer queue is calculated to obtain the satellite transmission time sequence; based on the preset end-to-end transmission delay parameters of the intercom link and the timing tags of each voice frame, the planned transmission time of each voice frame in the intercom transmission buffer queue is calculated to obtain the intercom transmission time sequence.

[0035] Based on the satellite transmission time sequence and the intercom transmission time sequence, the satellite link is controlled to transmit corresponding voice frames to the second interference group, and the intercom link is controlled to transmit corresponding voice frames to the second interference group. The method for controlling the satellite link to transmit corresponding voice frames to the second interference group and the intercom link to transmit corresponding voice frames to the second interference group based on the satellite transmission time sequence and the intercom transmission time sequence includes: Obtain the actual transmission time corresponding to a preset number of initial voice frames and their planned transmission time in the satellite transmission time sequence or the intercom transmission time sequence; calculate the transmission timing jitter parameter corresponding to this voice session based on the time deviation between the actual transmission time and the planned transmission time; determine the link switching protection interval corresponding to this voice session based on the transmission timing jitter parameter.

[0036] During this voice session, when the transmission sequence of two adjacent voice frames changes in the satellite transmission time sequence and the intercom transmission time sequence, the planned transmission time of the subsequent voice frame is postponed by using the link switching protection interval. Based on the satellite transmission time sequence and the intercom transmission time sequence after the postponement adjustment, the satellite link is controlled to send the corresponding voice frame to the second interference group, and the intercom link is controlled to send the corresponding voice frame to the second interference group.

[0037] For example, after the target voice frame sequence is split, the converged communication gateway performs transmission buffering and transmission scheduling control processing on the satellite channel sequence and the intercom channel sequence, respectively. Specifically, on the converged communication gateway side, a satellite transmission buffer queue is established for the satellite channel sequence and an intercom transmission buffer queue is established for the intercom channel sequence to temporarily store voice frame data that has not yet entered the physical link transmission stage.

[0038] When generating the target voice frame sequence, the converged communication gateway has associated each voice frame with a corresponding time tag, which represents the temporal position of the voice frame in the original voice stream. The converged communication gateway writes the time tag into the corresponding voice frame records in the satellite transmission buffer queue and the intercom transmission buffer queue, respectively, as the time reference for subsequent transmission scheduling. The converged communication gateway calculates the planned transmission time for each voice frame in the satellite transmission buffer queue based on the preset end-to-end transmission delay parameter of the satellite link. In this embodiment, the satellite link is the Asia-Pacific 6D high-throughput satellite communication link, and the average single-hop end-to-end transmission delay measured in the field is stable between 480 and 520 ms. In this embodiment, 500 ms is taken as the preset end-to-end transmission delay parameter of the satellite link. The converged communication gateway uses the original time reference corresponding to the time tag of each voice frame as a reference, and adds a 500 ms transmission delay to calculate the planned satellite transmission time corresponding to each voice frame, thereby forming a satellite transmission time sequence.

[0039] Correspondingly, the converged communication gateway calculates the planned transmission time for each voice frame in the intercom transmission buffer queue based on the preset end-to-end transmission delay parameter of the intercom link. In this embodiment, the 370MHz digital intercom link is a short-range private network communication link, and the single-hop end-to-end voice transmission delay is stable between 20 and 40ms. In this embodiment, 30ms is taken as the preset end-to-end transmission delay parameter of the intercom link. The converged communication gateway uses the time sequence label of each voice frame as a reference, superimposes the 30ms transmission delay, and calculates the planned intercom transmission time corresponding to each voice frame, thereby forming an intercom transmission time sequence. After obtaining the satellite transmission time sequence and the intercom transmission time sequence, the converged communication gateway performs unified scheduling control on the transmission behavior of the two physical links based on the above two transmission time sequences: when the current system time reaches the satellite transmission time corresponding to a certain voice frame, the voice frame is transmitted to the second interference group through the satellite link; when the current system time reaches the intercom transmission time corresponding to a certain voice frame, the voice frame is transmitted to the second interference group through the 370MHz digital intercom link.

[0040] To suppress timing jitter introduced during the handover between the satellite link and the intercom link, the converged communication gateway performs statistical correction on the actual transmission of the initial few voice frames at the beginning of the voice session. Specifically, in this embodiment, the converged communication gateway selects the first 5 voice frames as a preset number of initial voice frames and compares their planned transmission time with the actual transmission time.

[0041] For example, based on the first 5 voice frames sent, their planned transmission times are t1=1000ms, t2=1060ms, t3=1120ms, t4=1180ms, and t5=1240ms.

[0042] The corresponding actual transmission completion times, measured by timestamp feedback, are T1=1018ms, T2=1082ms, T3=1135ms, T4=1196ms, and T5=1261ms.

[0043] The corresponding transmission time deviations are: Δt=18ms, Δt=22ms, Δt=15ms, Δt=16ms, and Δt=21ms. The converged communication gateway takes the maximum value of the above five transmission time deviations as the transmission timing jitter parameter for this voice session, i.e., max{18,22,15,16,21}=22ms. Based on this, the converged communication gateway determines the link switching protection interval to be 25ms, which is the protection duration obtained by rounding up by a 5ms step on the maximum jitter parameter. During this voice session, when the transmission sequence of two adjacent voice frames changes in the satellite transmission time sequence and the intercom transmission time sequence, the converged communication gateway determines that a link switching event has occurred and adjusts the planned transmission time of the subsequent voice frame accordingly. For example, if a certain voice frame is originally planned to be sent via the intercom link with a planned transmission time of 2150ms, and the next voice frame needs to be sent via the satellite link, then the converged communication gateway will adjust the planned transmission time of the next voice frame from the original 2210ms to 2210ms + 25ms = 2235ms.

[0044] After completing the above-mentioned adjustment, the converged communication gateway controls the satellite link and the intercom link to send the corresponding voice frames to the second interference group according to the new transmission time sequence based on the adjusted satellite transmission time sequence and intercom transmission time sequence, thereby maintaining the continuity and timing stability of voice output under the condition of multiple links alternating transmission.

[0045] Step S4: Based on the expected link availability state sequence corresponding to the first interference group, perform link selection and transmission control on the voice frames in the second collaborative processing queue; wherein, within the interference time window corresponding to the expected link availability state sequence, the voice frames sent from the second interference group to the first interference group are transmitted via the satellite link, while the voice frames sent from the second interference group to the second interference group are transmitted via the intercom link.

[0046] For example, after a voice frame in the second collaborative processing queue enters the transmission scheduling stage, the converged communication gateway performs link selection transmission control frame by frame for each voice frame from the second interference group. Specifically, the converged communication gateway first reads the frame timestamp information recorded when each voice frame enters the second collaborative processing queue, and determines the actual duration interval of the voice frame on the time axis by combining it with the corresponding voice frame duration.

[0047] The converged communication gateway retrieves the set of time slices corresponding to the duration interval of the voice frame from a pre-established sequence of expected link availability states based on the frame timestamp information, and determines whether the set of time slices overlaps with the predicted interference time window in any transmission cycle. In the operating conditions used in this embodiment, the transmission repetition frequency of the transient electromagnetic device is 10Hz, corresponding to a transmission cycle of 100ms. Within each transmission cycle, 0–12ms is the predicted interference time window, and the remaining 12–100ms is the available time window. When the duration interval corresponding to a voice frame in the second collaborative processing queue overlaps with the predicted interference time window in the current or next transmission cycle, and the target receiving terminal of the voice frame belongs to the first interference group, the converged communication gateway determines that the voice frame will be in a strong transient electromagnetic interference environment when transmitted via the intercom link. Therefore, it identifies the transmission link of the voice frame as a satellite link and writes the voice frame into the satellite transmission buffer queue, waiting to be forwarded to the first interference group via the satellite link.

[0048] When the duration interval of a voice frame in the second collaborative processing queue overlaps with the predicted interference time window, but the target receiving terminal of the voice frame still belongs to the second interference group, the converged communication gateway determines that the voice frame does not need to bypass the satellite link and can still complete intra-group communication directly through the 370MHz digital intercom link. Therefore, it writes the voice frame into the intercom transmission buffer queue and sends it directly to the corresponding intercom terminal in the second interference group through the intercom link. When the duration interval of a voice frame in the second collaborative processing queue falls entirely within the available time window of each transmission cycle and does not overlap with any predicted interference time window, the converged communication gateway determines that the voice frame is in a relatively stable wireless environment. At this time, regardless of whether the target receiving terminal belongs to the first or second interference group, the intercom link is preferentially selected as the transmission link, and the voice frame is written into the intercom transmission buffer queue and transmitted through the 370MHz digital intercom link.

[0049] For example, at a certain moment, walkie-talkie B1 in the second interference group sends a voice frame with a frame timestamp of 6ms. The duration of this voice frame is between 6 and 66ms, overlapping with the predicted interference time window of 0 to 12ms within the current transmission cycle. If the target receiver of this voice frame is walkie-talkie A1 in the first interference group, the converged communication gateway writes the voice frame into the satellite transmission buffer queue and forwards it to A1 via the satellite link. If the target receiver of this voice frame is walkie-talkie B2 in the second interference group, the converged communication gateway writes the voice frame into the intercom transmission buffer queue and sends it directly to B2 via the intercom link. As another example, at another moment, B1 sends a voice frame with a frame timestamp of 28ms. The duration of this voice frame is between 28 and 88ms, falling entirely within the available time window of the current transmission cycle. Therefore, regardless of whether the target receiver of this voice frame belongs to the first or second interference group, the converged communication gateway writes the voice frame into the intercom transmission buffer queue and completes the transmission via the intercom link. Through the above-mentioned link selection and transmission control process, when the second interfered group initiates voice communication to the first interfered group, it actively bypasses the intercom link and uses the satellite link to complete the forwarding during periods of strong transient electromagnetic interference; while during periods of stable wireless environment and in communication scenarios within the second interfered group, the intercom link is always used first to complete the transmission, thereby ensuring the communication reliability of the first interfered group while avoiding unnecessary satellite link occupation.

[0050] Example 2: Based on the same inventive concept, such as Figure 2 As shown, this embodiment also provides a digital walkie-talkie and satellite phone collaborative communication control system, the system comprising: The interference modeling module is used to obtain the working timing of geophysical exploration instruments, including the transmission period and pulse width; obtain the attribute information of each digital walkie-talkie, including the walkie-talkie number and its corresponding personnel role information; divide each digital walkie-talkie into a first interference group and a second interference group according to the attribute information; and establish a sequence of expected link availability states based on the working timing.

[0051] The voice access module is used by the converged communication gateway to include the voice frame sequence from the first interference group into the first collaborative processing queue and the voice frame sequence from the second interference group into the second collaborative processing queue when the gateway receives the voice frame sequence from the digital walkie-talkie.

[0052] The first splitting module is used to perform time mapping between the voice frames in the first collaborative processing queue and the expected link availability status sequence to obtain the target voice frame sequence; split the voice frames in the target voice frame sequence according to the status identifier in the target voice frame sequence to obtain the satellite channel sequence and the intercom channel sequence; forward the voice frames in the satellite channel sequence to the second interference group through the satellite link, and forward the voice frames in the intercom channel sequence to the second interference group through the intercom link.

[0053] The second diversion module is used to perform link selection and transmission control on voice frames in the second collaborative processing queue according to the expected link availability state sequence corresponding to the first interference group; wherein, within the interference time window corresponding to the expected link availability state sequence, voice frames sent from the second interference group to the first interference group are transmitted via satellite link, while voice frames sent from the second interference group to the second interference group are transmitted via intercom link.

[0054] Furthermore, the interference modeling module includes: The state sequence generation unit includes: performing time discretization processing on the working time sequence of the geophysical exploration instrument to construct a corresponding time sequence sampling sequence with a preset time resolution; determining the cycle start time point corresponding to each launch cycle in the time sequence sampling sequence according to the launch cycle; determining the pulse time interval within each launch cycle based on the pulse width using the cycle start time point as a reference; and marking time slices falling within each pulse time interval in the time sequence sampling sequence as interference time slices to obtain an interference time slice set.

[0055] A preset time margin is extended before and after the set of interference time slots to obtain continuous predicted interference time windows; time slots outside the predicted interference time windows are marked as available time slots; and a sequence of expected link availability states consisting of available and unavailable state identifiers is generated in chronological order.

[0056] Furthermore, the first splitting module includes: The link labeling unit is used to obtain the frame timestamp information corresponding to each speech frame that enters the first collaborative processing queue; based on the frame timestamp information, it retrieves the time slice status identifier corresponding to each speech frame timestamp in the expected link available status sequence to obtain the link status identifier corresponding to each speech frame.

[0057] When the duration of a single voice frame overlaps with the predicted interference time window, the link status identifier of that voice frame is determined to be an unavailable status identifier; when the duration of a voice frame does not overlap with the predicted interference time window, the link status identifier of that voice frame is determined to be an available status identifier; the voice frames are associated with their corresponding link status identifiers, and a target voice frame sequence containing link status identifiers is generated according to the original time order of the voice frames.

[0058] Furthermore, the first splitting module includes: The dual-link scheduling unit is used to establish a satellite transmission buffer queue for the satellite channel sequence and an intercom transmission buffer queue for the intercom channel sequence on the converged communication gateway side; and to write the time sequence tag determined when generating the target voice frame sequence of each voice frame into the corresponding voice frame record in the satellite transmission buffer queue and the intercom transmission buffer queue respectively.

[0059] Based on the preset end-to-end transmission delay parameters of the satellite link and the timing tags of each voice frame, the planned transmission time of each voice frame in the satellite transmission buffer queue is calculated to obtain the satellite transmission time sequence; based on the preset end-to-end transmission delay parameters of the intercom link and the timing tags of each voice frame, the planned transmission time of each voice frame in the intercom transmission buffer queue is calculated to obtain the intercom transmission time sequence.

[0060] Based on the satellite transmission time sequence and the intercom transmission time sequence, control the satellite link to send the corresponding voice frame to the second interference group, and control the intercom link to send the corresponding voice frame to the second interference group.

[0061] Furthermore, the dual-link scheduling unit includes: The switching protection unit is used to obtain the actual transmission time corresponding to a preset number of initial voice frames and their planned transmission time in the satellite transmission time sequence or the intercom transmission time sequence; calculate the transmission timing jitter parameter corresponding to the current voice session based on the time deviation between the actual transmission time and the planned transmission time; and determine the link switching protection interval corresponding to the current voice session based on the transmission timing jitter parameter.

[0062] During this voice session, when the transmission sequence of two adjacent voice frames changes in the satellite transmission time sequence and the intercom transmission time sequence, the planned transmission time of the subsequent voice frame is postponed by using the link switching protection interval. Based on the satellite transmission time sequence and the intercom transmission time sequence after the postponement adjustment, the satellite link is controlled to send the corresponding voice frame to the second interference group, and the intercom link is controlled to send the corresponding voice frame to the second interference group.

[0063] It should be noted that the specific methods by which each module performs operations in the system described in the above embodiments have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0064] Finally, it should be noted that although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for coordinated communication control between a digital walkie-talkie and a satellite phone, characterized in that, The method includes: The system acquires the operating timing sequence of geophysical exploration instruments, including the transmission cycle and pulse width; acquires the attribute information of each digital walkie-talkie, including the walkie-talkie number and its corresponding personnel role information; divides each digital walkie-talkie into a first interference group and a second interference group based on the attribute information; and establishes a sequence of expected link availability states based on the operating timing sequence. When the converged communication gateway receives a voice frame sequence from a digital walkie-talkie, it includes the voice frame sequence from the first interference group into the first collaborative processing queue and the voice frame sequence from the second interference group into the second collaborative processing queue. The voice frames in the first collaborative processing queue are matched with the expected link availability status sequence in time to obtain the target voice frame sequence; the voice frames in the target voice frame sequence are split according to the status identifier in the target voice frame sequence to obtain the satellite channel sequence and the intercom channel sequence; the voice frames in the satellite channel sequence are forwarded to the second interference group through the satellite link, and the voice frames in the intercom channel sequence are forwarded to the second interference group through the intercom link. Based on the expected link availability sequence corresponding to the first interfered group, link selection and transmission control are performed on the voice frames in the second collaborative processing queue; wherein, within the interference time window corresponding to the expected link availability sequence, voice frames sent from the second interfered group to the first interfered group are transmitted via satellite link, while voice frames sent from the second interfered group to the second interfered group are transmitted via intercom link.

2. The method for coordinated communication control between a digital walkie-talkie and a satellite phone according to claim 1, characterized in that, The method for establishing the expected link availability state sequence based on the working time sequence includes: The working time sequence of the geophysical exploration instrument is discretized to construct a corresponding time sequence sampling sequence with a preset time resolution. According to the launch cycle, the start time point of each launch cycle is determined in the time sequence sampling sequence. Based on the start time point of each cycle, the pulse time interval within each launch cycle is determined according to the pulse width. In the time sequence sampling sequence, time slices falling within each pulse time interval are marked as interference time slices to obtain a set of interference time slices. A preset time margin is extended before and after the set of interference time slots to obtain continuous predicted interference time windows; time slots outside the predicted interference time windows are marked as available time slots; and a sequence of expected link availability states consisting of available and unavailable state identifiers is generated in chronological order.

3. The method for coordinated communication control between a digital walkie-talkie and a satellite phone according to claim 2, characterized in that, The method for obtaining the target speech frame sequence by matching the speech frames in the first collaborative processing queue with the expected link availability sequence in time includes: Obtain the frame timestamp information corresponding to each voice frame that enters the first collaborative processing queue; based on the frame timestamp information, retrieve the time slice status identifier corresponding to each voice frame timestamp in the expected link available status sequence to obtain the link status identifier corresponding to each voice frame. When the duration of a single voice frame overlaps with the predicted interference time window, the link status identifier of that voice frame is determined to be an unavailable status identifier; when the duration of a voice frame does not overlap with the predicted interference time window, the link status identifier of that voice frame is determined to be an available status identifier; the voice frames are associated with their corresponding link status identifiers, and a target voice frame sequence containing link status identifiers is generated according to the original time order of the voice frames.

4. The method for coordinated communication control between a digital walkie-talkie and a satellite phone according to claim 3, characterized in that, The method of forwarding voice frames in the satellite channel sequence to the second jammed group via satellite link, and forwarding voice frames in the intercom channel sequence to the second jammed group via intercom link, includes: On the converged communication gateway side, a satellite transmission buffer queue is established for the satellite channel sequence, and an intercom transmission buffer queue is established for the intercom channel sequence; the time sequence tag determined when generating the target voice frame sequence for each voice frame is written into the corresponding voice frame record in the satellite transmission buffer queue and the intercom transmission buffer queue respectively; Based on the preset end-to-end transmission delay parameters of the satellite link and the timing tags of each voice frame, the planned transmission time of each voice frame in the satellite transmission buffer queue is calculated to obtain the satellite transmission time sequence; based on the preset end-to-end transmission delay parameters of the intercom link and the timing tags of each voice frame, the planned transmission time of each voice frame in the intercom transmission buffer queue is calculated to obtain the intercom transmission time sequence. Based on the satellite transmission time sequence and the intercom transmission time sequence, control the satellite link to send the corresponding voice frame to the second interference group, and control the intercom link to send the corresponding voice frame to the second interference group.

5. The method for coordinated communication control between a digital walkie-talkie and a satellite phone according to claim 4, characterized in that, The method of controlling the satellite link to send corresponding voice frames to the second interference group and controlling the intercom link to send corresponding voice frames to the second interference group based on the satellite transmission time sequence and the intercom transmission time sequence includes: Obtain the actual transmission time corresponding to a preset number of initial voice frames and their planned transmission time in the satellite transmission time sequence or the intercom transmission time sequence; calculate the transmission timing jitter parameter corresponding to this voice session based on the time deviation between the actual transmission time and the planned transmission time; determine the link switching protection interval corresponding to this voice session based on the transmission timing jitter parameter. During this voice session, when the transmission sequence of two adjacent voice frames changes in the satellite transmission time sequence and the intercom transmission time sequence, the planned transmission time of the subsequent voice frame is postponed by using the link switching protection interval. Based on the satellite transmission time sequence and the intercom transmission time sequence after the postponement adjustment, the satellite link is controlled to send the corresponding voice frame to the second interference group, and the intercom link is controlled to send the corresponding voice frame to the second interference group.

6. A digital walkie-talkie and satellite phone collaborative communication control system, characterized in that, The system includes: The interference modeling module is used to acquire the operating timing of geophysical exploration instruments, including the transmission period and pulse width; acquire the attribute information of each digital walkie-talkie, including the walkie-talkie number and its corresponding personnel role information; divide each digital walkie-talkie into a first interference group and a second interference group based on the attribute information; and establish a sequence of expected link availability states based on the operating timing. The voice access module is used by the converged communication gateway to include the voice frame sequence from the first interference group into the first collaborative processing queue and the voice frame sequence from the second interference group into the second collaborative processing queue when the converged communication gateway receives the voice frame sequence from the digital walkie-talkie. The first splitting module is used to perform time mapping between the voice frames in the first collaborative processing queue and the expected link availability status sequence to obtain the target voice frame sequence; split the voice frames in the target voice frame sequence according to the status identifier in the target voice frame sequence to obtain the satellite channel sequence and the intercom channel sequence; forward the voice frames in the satellite channel sequence to the second interference group through the satellite link, and forward the voice frames in the intercom channel sequence to the second interference group through the intercom link; The second diversion module is used to perform link selection and transmission control on voice frames in the second collaborative processing queue according to the expected link availability state sequence corresponding to the first interference group; wherein, within the interference time window corresponding to the expected link availability state sequence, voice frames sent from the second interference group to the first interference group are transmitted via satellite link, while voice frames sent from the second interference group to the second interference group are transmitted via intercom link.

7. A digital walkie-talkie and satellite phone collaborative communication control system according to claim 6, characterized in that, The interference modeling module includes: The state sequence generation unit includes: performing time discretization processing on the working time sequence of the geophysical exploration instrument to construct a corresponding time sequence sampling sequence with a preset time resolution; determining the cycle start time point corresponding to each launch cycle in the time sequence sampling sequence according to the launch cycle; determining the pulse time interval within each launch cycle based on the pulse width using the cycle start time point as a reference; and marking time slices falling within each pulse time interval in the time sequence sampling sequence as interference time slices to obtain a set of interference time slices. A preset time margin is extended before and after the set of interference time slots to obtain continuous predicted interference time windows; time slots outside the predicted interference time windows are marked as available time slots; and a sequence of expected link availability states consisting of available and unavailable state identifiers is generated in chronological order.

8. A digital walkie-talkie and satellite phone collaborative communication control system according to claim 7, characterized in that, The first splitting module includes: The link labeling unit is used to obtain the frame timestamp information corresponding to each speech frame that enters the first collaborative processing queue; and according to the frame timestamp information, to retrieve the time slice status identifier corresponding to each speech frame timestamp in the expected link available status sequence to obtain the link status identifier corresponding to each speech frame. When the duration of a single voice frame overlaps with the predicted interference time window, the link status identifier of that voice frame is determined to be an unavailable status identifier; when the duration of a voice frame does not overlap with the predicted interference time window, the link status identifier of that voice frame is determined to be an available status identifier; the voice frames are associated with their corresponding link status identifiers, and a target voice frame sequence containing link status identifiers is generated according to the original time order of the voice frames.

9. A digital walkie-talkie and satellite phone collaborative communication control system according to claim 8, characterized in that, The first splitting module includes: A dual-link scheduling unit is used to establish a satellite transmission buffer queue for the satellite channel sequence and an intercom transmission buffer queue for the intercom channel sequence on the converged communication gateway side; and to write the time sequence tag determined when generating the target voice frame sequence of each voice frame into the corresponding voice frame record in the satellite transmission buffer queue and the intercom transmission buffer queue respectively. Based on the preset end-to-end transmission delay parameters of the satellite link and the timing tags of each voice frame, the planned transmission time of each voice frame in the satellite transmission buffer queue is calculated to obtain the satellite transmission time sequence; based on the preset end-to-end transmission delay parameters of the intercom link and the timing tags of each voice frame, the planned transmission time of each voice frame in the intercom transmission buffer queue is calculated to obtain the intercom transmission time sequence. Based on the satellite transmission time sequence and the intercom transmission time sequence, control the satellite link to send the corresponding voice frame to the second interference group, and control the intercom link to send the corresponding voice frame to the second interference group.

10. A digital walkie-talkie and satellite phone collaborative communication control system according to claim 9, characterized in that, The dual-link scheduling unit includes: The switching protection unit is used to obtain the actual transmission time corresponding to a preset number of initial voice frames and their planned transmission time in the satellite transmission time sequence or the intercom transmission time sequence; calculate the transmission timing jitter parameter corresponding to the current voice session based on the time deviation between the actual transmission time and the planned transmission time; and determine the link switching protection interval corresponding to the current voice session based on the transmission timing jitter parameter. During this voice session, when the transmission sequence of two adjacent voice frames changes in the satellite transmission time sequence and the intercom transmission time sequence, the planned transmission time of the subsequent voice frame is postponed by using the link switching protection interval. Based on the satellite transmission time sequence and the intercom transmission time sequence after the postponement adjustment, the satellite link is controlled to send the corresponding voice frame to the second interference group, and the intercom link is controlled to send the corresponding voice frame to the second interference group.

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