A satellite inter-satellite communication routing planning method and device for Walker-Delta constellation, an electronic device and a computer storage medium

Abstract

This invention proposes a method, apparatus, electronic device, and computer storage medium for inter-satellite communication routing planning in the Walker-Delta constellation. It solves the problem that existing routing methods struggle to simultaneously minimize hop count and path length in the Walker-Delta mega-constellation. This invention determines the minimum hop count and optimal inter-orbit hop direction by analyzing the constellation configuration and satellite positions, and constrains the path search within a corresponding spherical rectangular directed acyclic graph. Based on whether the source and destination satellites have the same flight direction, it adaptively selects a construction strategy that prioritizes inter-orbit or intra-orbit hop allocation, and utilizes a latitude-based reward function to guide hop allocation towards higher latitude regions to shorten physical paths. This method achieves joint optimization of hop count and transmission path, significantly reducing communication latency, and is suitable for inter-satellite routing planning in the Walker-Delta constellation.

Description

Technical Field

[0001] This invention relates to the field of satellite constellation communication technology, and specifically to a satellite inter-satellite communication routing planning method, apparatus, electronic device, and computer storage medium for the Walker-Delta constellation. Background Technology

[0002] With the establishment of satellite internet, the total number of satellites in orbit globally continues to increase. Inter-satellite communication, as the main method for synchronizing satellite information in orbit, plays an increasingly important role in the operation and maintenance of satellite constellations. Most existing routing algorithms were developed in earlier times, primarily using the shortest path length as the planning objective and employing traditional path planning algorithms such as Dijkstra's algorithm. These algorithms may not be applicable or optimal for inter-satellite communication routing planning in mega-constellations. The Walker-Delta constellation, as the mainstream configuration for current low-Earth orbit satellite networking, is widely used in various commercial satellite constellation configurations due to its ability to achieve efficient and continuous global coverage. Compared to traditional simple satellite constellations, the Walker-Delta constellation significantly improves coverage through the collaborative work of multiple orbital plane satellites, but its complex spatial layout and dynamic topology also bring challenges to inter-satellite communication routing planning. In addition, with the development of inter-satellite communication technologies, such as the application of Starlink laser communication technology, the speed of inter-satellite information transmission has increased dramatically, and the shortest path provided by traditional path planning algorithms is insufficient to compensate for the on-board processing latency caused by the additional hops. Therefore, it is necessary to comprehensively consider the transmission path length and hop count of inter-satellite communication routes, and proposing a suitable inter-satellite communication route planning method for the Walker-Delta mega-constellation is a problem that needs to be solved.

[0003] This invention comprehensively considers the length and hop count of inter-satellite communication routes. Based on Walker-Delta constellation configuration data, it optimizes the routing directions of adjacent satellites to determine the optimal direction. A reward function is used to facilitate the algorithm's allocation of inter-orbit hop counts to locations with a relatively compact satellite distribution near the Earth's poles, thereby minimizing the route path. Inter-satellite communication route planning is decomposed into two processes: inter-orbit routing and intra-orbit routing. Based on the flight directions of the source satellite (sender) and the destination satellite (receiver), different allocation strategies for inter-orbit and intra-orbit routes are designed to achieve comprehensive optimization of hop count length and path length. Summary of the Invention

[0004] To address the problems that existing inter-satellite communication routing planning methods are not applicable to the Walker-Delta mega-constellation, that existing inter-satellite communication routing planning methods for satellite constellations do not take into account the comprehensive optimization of hop count and path length, and that the planning efficiency and adaptability are insufficient in highly dynamic topologies, this invention proposes a satellite inter-satellite communication routing planning method, apparatus, electronic equipment, and computer storage medium for the Walker-Delta constellation.

[0005] This invention, by closely integrating the inherent characteristics of the Walker-Delta constellation, designs a complete method from theoretical minimum hop count calculation to dynamic path construction. It comprehensively considers the length and hop count of inter-satellite communication routes, designing dedicated inter-orbit and intra-orbit route allocation strategies for satellites with different flight directions, simultaneously minimizing route hop count and shortening route paths. The method includes: Step 1: Obtain the configuration data of the Walker-Delta constellation and the data of the source and destination satellites; Step 2: Based on the configuration data and the data of the source satellite and the destination satellite, calculate the total number of inter-orbit hops in the east direction and the total number of inter-orbit hops in the west direction, as well as the number of intra-orbit hops in the four directions of northeast, southeast, northwest and southwest, and determine the path with the minimum number of hops and the optimal direction of intra-orbit inter-orbit hops; Step 3: Based on the minimum hop count path and the optimal direction for hops between tracks within the track, restrict the search space for the minimum hop count path to a directed acyclic graph of a spherical rectangle, where the horizontal width of the spherical rectangle is the minimum number of hops between tracks. The longitudinal height is the minimum number of jumps within the track. Furthermore, the source satellite and the target satellite are located at opposite corners of the spherical rectangle; Step 4: In the directed acyclic graph of the spherical rectangle, depending on whether the source satellite and the target satellite fly in the same direction, different inter-orbit hop and intra-orbit hop allocation strategies are adopted. Priority is given to allocating the number of inter-orbit hops to positions close to the two poles of the Earth to shorten the path length, and constructing path segments extending forward from the source satellite and path segments extending backward from the target satellite. Step 5: Merge the forward and reverse path segments to form the inter-satellite communication route with the minimum number of hops and the shortest path length from the source satellite to the destination satellite.

[0006] Furthermore, in step one, The configuration data includes: the number of orbital planes, the number of satellites in each orbital plane, the orbital inclination and semi-major axis of all satellites, the difference in right ascension of the ascending node between adjacent orbital planes, the phase difference between adjacent satellites in an orbital plane, the phase offset between satellites in adjacent orbital planes, and the inter-satellite link connection relationship. The data for the source and destination satellites in the routing includes the positions of the source and destination satellites.

[0007] Furthermore, step one specifically involves, Step 11: Represent the Walker-Delta constellation as follows: N Deployed within the orbital plane N × M 10 satellites, evenly distributed in each orbital plane M The configuration of the satellite; Steps one and two: Represent the positions of each satellite using six Keplerian orbital elements, and the first satellite in the network... i orbital plane number j Each satellite is represented as , , The longitude and latitude argument of the satellite's ascending node are updated in real time using an orbital recursion algorithm. Step 13: Establish intra-orbit links between each satellite and its adjacent satellites in the orbital plane, and establish inter-orbit links with the nearest satellites in the left and right adjacent orbital planes, thus obtaining the connection relationship of four inter-satellite links.

[0008] Furthermore, step two specifically involves: Step 21: Calculate the difference in longitude angle between the source satellite orbital plane and the target satellite orbital plane in the east direction to obtain the total number of hops in the east direction and the total number of hops in the west direction; The method for calculating the eastward longitude angle difference between the source satellite orbital plane and the destination satellite orbital plane is as follows:

[0009] In the formula, The initial ascending node longitude of the target satellite; The longitude of the initial ascending node of the source satellite; It is an inscribed angle; The calculation method for the total number of track jumps in the east direction is as follows:

[0010] In the formula, The difference in right ascension between the ascending nodes of adjacent planes; The calculation method for the total number of track jumps in the west direction is as follows:

[0011] Step 22: Calculate the in-track phase angle difference corresponding to the track jumps in the east and west directions, respectively. The calculation method is as follows:

[0012] In the formula, The difference in in-track phase angle corresponding to the inter-track jump in the eastward direction; The difference in in-orbit phase angle corresponding to the westward inter-orbit jump; The target satellite's latitude argument; The source satellite's latitude and angle; This represents the phase offset between satellites in adjacent planes. , F For phase factor, ; Steps 2 and 3: Calculate the number of hops in the four directions (northeast, southeast, northwest, and southwest) by combining the in-orbit phase angle difference between the source satellite and the target satellite; The method for calculating the number of jumps in the combination of the four directions of northeast, southeast, northwest, and southwest is as follows:

[0013] In the formula, The jump count is in the northeast direction; The jump count is in the southeast direction; This represents the number of jumps in the northwest direction. This refers to the number of jumps in the southwest direction. The phase difference between adjacent satellites in the orbital plane. ; Step 24: The combination corresponding to the minimum value of the four direction combinations is the path with the minimum number of jumps; determine the optimal direction for jumping between rails within the rail based on the path with the minimum number of jumps;

[0014] In the formula, This represents the minimum number of hops between tracks. This represents the minimum number of hops within the track.

[0015] Furthermore, in step four, The method for determining the current flight direction of a satellite is as follows: Calculate the satellite's latitude argument.

[0016] In the formula, To normalize the data to an interval , For the first i orbital plane number j One satellite, , ; when Time Satellite In ascending orbit; when Time Satellite It is in the process of ascending to a higher orbit.

[0017] Furthermore, in step four, When the source satellite and the destination satellite are flying in the same direction, the path segment is constructed in the following way: The forward construction path segment starts from the source satellite. 1. Construct the path segment backward from the target satellite ; and the source satellite node join in The target satellite node join in middle; calculate Current terminal satellites The revenue value of adjacent satellites in the direction and Current starting satellite direction The revenue value of adjacent satellites in the opposite direction, where the revenue value is:

[0018] In the formula, This represents the current satellite latitude angle. The latitude argument of adjacent satellites; Add the adjacent satellite node on the side with the larger benefit value as a new routing node to the corresponding path segment. If the source satellite value is larger, add it to... At the end, add to the target satellite side when it is larger. At the very front; Repeat execution times, when End satellite node and When the first and second satellite nodes are in the same orbital plane, from Add satellites in the same orbit to supplement the in-orbit nodes in sequence. Until the two nodes are connected.

[0019] Furthermore, in step four, When the source satellite and the destination satellite are flying in different directions, the path segment is constructed in the following way: The forward construction path segment starts from the source satellite. 1. Construct the path segment backward from the target satellite ; and the source satellite node join in The target satellite node join in middle; calculate Current terminal satellite to The revenue value of adjacent satellites in the direction and Current starting satellite direction The revenue value of adjacent satellites in the opposite direction, where the revenue value is:

[0020] Add the adjacent satellite nodes on the side with the larger gain value to the corresponding path segment; if the source satellite value is larger, add it to... At the end, add to the target satellite side when it is larger. At the very front; Repeat execution times, when End satellite node and When the first satellite node can be directly connected via inter-orbit hop, from Add inter-orbit neighbor satellite nodes sequentially to Until the two nodes are connected.

[0021] This invention proposes a satellite inter-satellite communication routing planning device for the Walker-Delta constellation, the device comprising: Data acquisition module: Acquires configuration data of the Walker-Delta constellation and data on the routing source and destination satellites; Path calculation module: Based on configuration data and data from the source and destination satellites, it calculates the total number of inter-orbit hops in the east direction and the total number of inter-orbit hops in the west direction, as well as the number of intra-orbit hops in the four directions of northeast, southeast, northwest, and southwest, and determines the path with the minimum number of hops and the optimal direction for intra-orbit and inter-orbit hops. Path space constraint module: Based on the minimum hop count path and the optimal direction of intra-rail and inter-rail hops, the search space for the minimum hop count path is constrained to a directed acyclic graph of a spherical rectangle, where the horizontal width of the spherical rectangle is the minimum inter-rail hop count. The longitudinal height is the minimum number of jumps within the track. Furthermore, the source satellite and the target satellite are located at opposite corners of the spherical rectangle; Path construction module: In the directed acyclic graph of the spherical rectangle, different inter-orbit hop and intra-orbit hop allocation strategies are adopted according to whether the source satellite and the target satellite fly in the same direction. The number of inter-orbit hops is preferentially allocated to the positions close to the two poles of the Earth to shorten the path length, and the path segments extending from the source satellite in the forward direction and the path segments extending from the target satellite in the reverse direction are constructed. Path merging module: Merges forward and reverse path segments to form an inter-satellite communication route with the minimum number of hops and the shortest path length from the source satellite to the destination satellite.

[0022] The present invention proposes an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0023] The present invention proposes a computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the steps of the above-described method.

[0024] The beneficial effects of this invention are: To address the problems that existing inter-satellite communication routing planning methods are not applicable to Walker-Delta mega-constellations, that existing inter-satellite communication routing planning methods for satellite constellations do not comprehensively optimize hop count and path length, and that they suffer from insufficient planning efficiency and adaptability in highly dynamic topologies, this invention proposes a satellite inter-satellite communication routing planning method, apparatus, electronic equipment, and computer storage medium for Walker-Delta constellations, which has the following improvements: 1. This invention achieves coordinated optimization of hop count and path length, effectively reducing end-to-end latency. It decomposes routing planning into two processes: inter-orbit and intra-orbit, and introduces a benefit function as an adjustment mechanism. The benefit function evaluates the potential gain of different hop directions on path length and prioritizes guiding inter-orbit hop counts to higher latitude regions with more compact satellite distribution. This strategy enables the algorithm to intelligently select the specific location of each hop within a framework that strictly adheres to the minimum hop count constraint, thereby simultaneously minimizing the physical transmission path. This resolves the contradiction between hop count and latency that traditional methods cannot balance, significantly reducing the total latency of inter-satellite communication.

[0025] 2. Utilizing constellation prior knowledge enhances the targeting and computational efficiency of route planning. Based on constellation parameters, this invention rapidly calculates the theoretical minimum hop count and direction, limiting the path search space to a spherical rectangular directed acyclic graph, thus narrowing the search range and improving computational speed. Depending on whether the source and destination satellites share the same real-time flight direction, a differentiated path construction strategy of prioritizing inter-orbit hops or intra-orbit hops is dynamically switched, fully considering the impact of relative satellite motion on links and enhancing the adaptability of the routing scheme in dynamic topologies. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present 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 only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall process of the present invention.

[0028] Figure 2 This is a schematic diagram of the inter-satellite link connection of the satellite nodes in this invention.

[0029] Figure 3 This is a schematic diagram of the inter-satellite link planning of the present invention. Detailed Implementation

[0030] Combination Figures 1-3The 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.

[0031] This invention proposes a satellite inter-satellite communication routing planning method for the Walker-Delta constellation, the method comprising: Step 1: Obtain the configuration data of the Walker-Delta constellation and the data of the source and destination satellites; Further, in step one, the configuration data includes: the number of orbital planes, the number of satellites in each orbital plane, the orbital inclination and semi-major axis of all satellites, the difference in right ascension of the ascending node between adjacent orbital planes, the phase difference between adjacent satellites in an orbital plane, the phase offset between satellites in adjacent orbital planes, and the inter-satellite link connection relationship. The data for the source and destination satellites in the routing includes the positions of the source and destination satellites.

[0032] Furthermore, step one specifically involves, Step 11: Represent the Walker-Delta constellation as follows: N Deployed within the orbital plane N × M 10 satellites, evenly distributed in each orbital plane M The configuration of the satellite; Steps one and two: Represent the positions of each satellite using six Keplerian orbital elements, and the first satellite in the network... i orbital plane number j Each satellite is represented as , , The longitude and latitude argument of the satellite's ascending node are updated in real time using an orbital recursion algorithm. Step 13: Establish intra-orbit links between each satellite and its adjacent satellites in the orbital plane, and establish inter-orbit links with the nearest satellites in the left and right adjacent orbital planes, thus obtaining the connection relationship of four inter-satellite links.

[0033] The Walker-Delta constellation configuration is denoted as... Deployed within the orbital plane 10 satellites, evenly distributed in each orbital plane Each satellite node is typically equipped with four inter-satellite links: two intra-orbit links connecting adjacent satellites in the same orbital plane, and two inter-orbit links connecting neighboring satellites in adjacent orbital planes to the left and right. The positions of the satellites are represented using six Keplerian orbital elements (i.e., classical orbital elements). All satellites orbit in circular orbits with varying inclinations. With the semi-major axis of the track Similarly, the difference in right ascension between the ascending nodes of adjacent planes is... The phase difference between adjacent satellites in each orbital plane is The phase offset between satellites in adjacent planes is This data represents the latitudinal argument difference between two horizontally adjacent satellites, where the phase factor is... ; The first in the network i orbital plane number j Each satellite is represented as , , .set up To normalize the data to an interval Then the satellite The longitude of the initial ascending node in the scene can be represented as: The argument of latitude can be expressed as Its value is updated in real time by the orbital recursion algorithm; Satellites in constellations Four inter-satellite links are established with the satellite directly adjacent to it. These four links include intra-orbit links between the satellite and the preceding and following satellites in its own orbital plane, and inter-orbit links with satellites in the left and right adjacent orbital planes. The preceding and following satellites are respectively denoted as... and Left neighbor (west satellite) is represented as The right neighbor (eastern satellite) is represented as .

[0034] Step 2: Based on the configuration data and the data of the source satellite and the destination satellite, calculate the total number of inter-orbit hops in the east direction and the total number of inter-orbit hops in the west direction, as well as the number of intra-orbit hops in the four directions of northeast, southeast, northwest and southwest, and determine the path with the minimum number of hops and the optimal direction of intra-orbit inter-orbit hops; Furthermore, step two specifically involves: Step 21: Calculate the difference in longitude angle between the source satellite orbital plane and the target satellite orbital plane in the east direction to obtain the total number of hops in the east direction and the total number of hops in the west direction; The method for calculating the eastward longitude angle difference between the source satellite orbital plane and the destination satellite orbital plane is as follows:

[0035] In the formula, The initial ascending node longitude of the target satellite; The longitude of the initial ascending node of the source satellite; It is an inscribed angle; The calculation method for the total number of track jumps in the east direction is as follows:

[0036] In the formula, The difference in right ascension between the ascending nodes of adjacent planes; The calculation method for the total number of track jumps in the west direction is as follows:

[0037] Step 22: Calculate the in-track phase angle difference corresponding to the track jumps in the east and west directions, respectively. The calculation method is as follows:

[0038] In the formula, The difference in in-track phase angle corresponding to the inter-track jump in the eastward direction; The difference in in-orbit phase angle corresponding to the westward inter-orbit jump; The target satellite's latitude argument; The source satellite's latitude and angle; This represents the phase offset between satellites in adjacent planes. , F For phase factor, ; Steps 2 and 3: Calculate the number of hops in the four directions (northeast, southeast, northwest, and southwest) by combining the in-orbit phase angle difference between the source satellite and the target satellite; The method for calculating the number of jumps in the combination of the four directions of northeast, southeast, northwest, and southwest is as follows:

[0039] In the formula, The jump count is in the northeast direction; The jump count is in the southeast direction; This represents the number of jumps in the northwest direction. This refers to the number of jumps in the southwest direction. The phase difference between adjacent satellites in the orbital plane. ; Step 24: The combination corresponding to the minimum value of the four direction combinations is the path with the minimum number of jumps; determine the optimal direction for jumping between rails within the rail based on the path with the minimum number of jumps;

[0040] In the formula, This represents the minimum number of hops between tracks. This represents the minimum number of hops within the track.

[0041] Source satellite node is The target satellite node is The difference in longitude angle between the source satellite orbital plane and the target satellite orbital plane in the east direction is... Therefore, the total number of orbital jumps in the east direction is obtained as follows: The total number of track jumps in the west direction is ; Considering the phase angle difference between the two satellites, each additional eastward inter-orbit hop will increase the phase angle. Therefore, the difference in the in-orbit phase angle corresponding to jumps in the east and west directions is: Then, through the difference in phase angle within the orbit The number of jumps in the four different directions (northeast, southeast, northwest, and southwest) within the orbit is obtained: ; The path with the minimum number of hops is the combination that corresponds to the minimum value among all four directional combinations: This determines the optimal direction for the inter-orbit jump; Step 3: Based on the minimum hop count path and the optimal direction for hops between tracks within the track, restrict the search space for the minimum hop count path to a directed acyclic graph of a spherical rectangle, where the horizontal width of the spherical rectangle is the minimum number of hops between tracks. The longitudinal height is the minimum number of jumps within the track. Furthermore, the source satellite and the target satellite are located at opposite corners of the spherical rectangle; according to The corresponding combination restricts the minimum hop count path to a directed acyclic graph of a spherical rectangle, where the horizontal hop count length (minimum hop count between tracks) is... The longitudinal jump length (minimum number of jumps within the track) is The source satellite and the target satellite are located diagonally opposite each other.

[0042] Step 4: In the directed acyclic graph of the spherical rectangle, depending on whether the source satellite and the target satellite fly in the same direction, different inter-orbit hop and intra-orbit hop allocation strategies are adopted. Priority is given to allocating the number of inter-orbit hops to positions close to the two poles of the Earth to shorten the path length, and constructing path segments extending forward from the source satellite and path segments extending backward from the target satellite. Furthermore, in step four, The method for determining the current flight direction of a satellite is as follows: Calculate the satellite's latitude argument.

[0043] In the formula, To normalize the data to an interval , For the first i orbital plane number j One satellite, , ; when Time Satellite In ascending orbit; when Time Satellite It is in the process of ascending to a higher orbit.

[0044] Furthermore, in step four, When the source satellite and the destination satellite are flying in the same direction, the path segment is constructed in the following way: The forward construction path segment starts from the source satellite. 1. Construct the path segment backward from the target satellite ; and the source satellite node join in The target satellite node join in middle; calculate Current terminal satellites The revenue value of adjacent satellites in the direction and Current starting satellite The revenue value of adjacent satellites in the opposite direction, where the revenue value is:

[0045] In the formula, This represents the current satellite latitude angle. The latitude argument of adjacent satellites; Add the adjacent satellite node on the side with the larger benefit value as a new routing node to the corresponding path segment. If the source satellite value is larger, add it to... At the end, add to the target satellite side when it is larger. At the very front; Repeat execution times, when End satellite node and When the first and second satellite nodes are in the same orbital plane, from Add satellites in the same orbit to supplement the in-orbit nodes in sequence. Until the two nodes are connected.

[0046] Furthermore, in step four, When the source satellite and the destination satellite are flying in different directions, the path segment is constructed in the following way: The forward construction path segment starts from the source satellite. 1. Construct the path segment backward from the target satellite ; and the source satellite node join in The target satellite node join in middle; calculate Current terminal satellite to The revenue value of adjacent satellites in the direction and Current starting satellite direction The revenue value of adjacent satellites in the opposite direction, where the revenue value is:

[0047] Add the adjacent satellite nodes on the side with the larger gain value to the corresponding path segment; if the source satellite value is larger, add it to... At the end, add to the target satellite side when it is larger. At the very front; Repeat execution times, when End satellite node and When the first satellite node can be directly connected via inter-orbit hop, from Add inter-orbit neighbor satellite nodes sequentially to Until the two nodes are connected.

[0048] Considering that satellites are relatively compact when near the Earth's poles, and the length of an inter-orbit hop decreases with distance from the equator, inter-orbit hops are allocated to locations closer to the Earth's poles. During path optimization, the latitude increment of the satellite's position represents the gain. First, the orbital flight directions of the source and destination satellites are determined. Time Satellite In ascending orbit (flying northeast), when Time Satellite Currently ascending (flying southeast). Two path segments are created, one starting from the source satellite and the other from the destination satellite, with the path segment constructed forward from the source satellite. 1. Construct path segments from the target satellite and the source satellite node join in The target satellite node join in middle.

[0049] When the source satellite and the destination satellite are flying in the same direction (both ascending or both descending), the inter-orbit hop is allocated, calculated from the source satellite side. Direction and target satellite side Reverse gains , It is expressed as the absolute value of the sum of the current satellite latitude and the latitudes of adjacent satellites, where is taken as . End and The first For the current satellite, neighboring satellites Determine based on the direction and step one; Choose two directions The largest side is used as the new routing node and inserted into the corresponding path segment. If the source satellite side... direction The largest, then at Add satellite nodes at the end If the target satellite side opposite direction The largest, then at Add satellite nodes at the beginning ; Perform the above process times, when Last satellite node and First satellite node When they are in the same orbital plane, that is At that time, from arrive Direction (i.e.) (Direction) Sequentially add in-orbit nodes to the same orbit of satellites. until .

[0050] When the source satellite and the destination satellite are flying in different directions (one satellite ascends to orbit, the other descends to orbit), an in-orbit hop is allocated, calculated from the source satellite side. Direction and target satellite side Reverse gains , It is expressed as the sum of the current satellite latitude and the latitude of adjacent satellites, where takes End and The first For the current satellite, neighboring satellites Determine based on the direction and step one; Choose two directions The largest side is used as the new routing node and inserted into the corresponding path segment. If the source satellite side... direction The largest, then at Add satellite nodes at the end If the target satellite side opposite direction The largest, then at Add satellite nodes at the beginning ; Perform the above process times, when Last satellite node and First satellite node When direct connection via inter-track jump is possible, i.e. At that time, from arrive Direction (i.e.) (Direction) Sequentially add inter-orbit neighbor satellite nodes to until .

[0051] Step 5: Merge the forward and reverse path segments to form the inter-satellite communication route with the minimum number of hops and the shortest path length from the source satellite to the destination satellite, specifically as follows; By merging the two path segments, we obtain the final shortest path result. .

[0052] This invention proposes a satellite inter-satellite communication routing planning device for the Walker-Delta constellation, the device comprising: Data acquisition module: Acquires configuration data of the Walker-Delta constellation and data on the routing source and destination satellites; Path calculation module: Based on configuration data and data from the source and destination satellites, it calculates the total number of inter-orbit hops in the east direction and the total number of inter-orbit hops in the west direction, as well as the number of intra-orbit hops in the four directions of northeast, southeast, northwest, and southwest, and determines the path with the minimum number of hops and the optimal direction for intra-orbit and inter-orbit hops. Path space constraint module: Based on the minimum hop count path and the optimal direction of intra-rail and inter-rail hops, the search space for the minimum hop count path is constrained to a directed acyclic graph of a spherical rectangle, where the horizontal width of the spherical rectangle is the minimum inter-rail hop count. The longitudinal height is the minimum number of jumps within the track. Furthermore, the source satellite and the target satellite are located at opposite corners of the spherical rectangle; Path construction module: In the directed acyclic graph of the spherical rectangle, different inter-orbit hop and intra-orbit hop allocation strategies are adopted according to whether the source satellite and the target satellite fly in the same direction. The number of inter-orbit hops is preferentially allocated to the positions close to the two poles of the Earth to shorten the path length, and the path segments extending from the source satellite in the forward direction and the path segments extending from the target satellite in the reverse direction are constructed. Path merging module: Merges forward and reverse path segments to form an inter-satellite communication route with the minimum number of hops and the shortest path length from the source satellite to the destination satellite.

[0053] The present invention proposes an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0054] The present invention proposes a computer-readable storage medium for storing computer instructions, which, when executed by a processor, implement the steps of the above-described method.

[0055] A satellite inter-satellite communication route planning method for the Walker-Delta constellation comprehensively considers the length and hop count of the inter-satellite communication route. This includes dividing the route into inter-orbit routes and intra-orbit routes to determine the number of hops and direction respectively; designing allocation strategies for different flight directions of the source and destination satellites; determining the minimum number of hops and direction by dividing the route into inter-orbit routes and intra-orbit routes; based on Walker-Delta constellation configuration parameters and the position data of the source and destination satellites, the route planning directions are divided into four directions: east, west, north, and south. For inter-orbit routes, the direction and hop count are determined based on the longitude angle difference between the east and west directions from the source satellite's orbital plane to the destination satellite's orbital plane. For intra-orbit routes, the direction and hop count are determined by the phase angle difference between the two satellites in four different directions: northeast, southeast, northwest, and southwest. Finally, combinations of different directions determine the minimum number of hops and direction. Based on the Walker-Delta constellation configuration parameters, satellite positions are determined. The algorithm uses a reward function to facilitate the allocation of inter-orbit hops to locations with a relatively compact satellite distribution near the Earth's poles, constructing path segments from the source satellite forward and from the destination satellite backward.

[0056] The objective of this invention is achieved by: acquiring constellation configuration data and routing data for source and destination satellites; determining the minimum hop count and the optimal direction for intra-orbit and inter-orbit hops; and using a routing algorithm to find the shortest path with the minimum hop count. This invention, based on Walker-Delta constellation configuration data, designs a routing algorithm that comprehensively considers the length and hop count of inter-satellite communication routes to minimize the number of hops and shorten the routing path. This invention is designed for the inter-satellite routing planning scenario of today's mega-constellations and is computationally simple and fast. This invention is applicable to the inter-satellite communication routing planning problem of the Walker-Delta mega-constellation.

[0057] This invention discloses a satellite constellation communication routing planning method, specifically relating to inter-satellite communication routing planning for the Walker-Delta mega-constellation. Based on Walker-Delta constellation configuration data, it optimizes the routing directions of adjacent satellites to determine the optimal direction. Based on the flight directions of the source satellite (sender) and the destination satellite (receiver), it designs different allocation strategies for inter-orbit and intra-orbit routes to minimize path length. The advantages of this invention are twofold: First, it comprehensively considers the length and hop count of inter-satellite communication routes in its routing algorithm design, minimizing hop count and shortening the routing path; second, it is designed for the current mega-constellation inter-satellite routing planning scenario, and its computation is simple and rapid.

[0058] The foregoing has provided a detailed description of the satellite inter-satellite communication routing planning method, apparatus, electronic equipment, and computer storage medium proposed in this invention for the Walker-Delta constellation. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this invention. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A satellite inter-satellite communication routing planning method for the Walker-Delta constellation, characterized in that, The method includes: Step 1: Obtain the configuration data of the Walker-Delta constellation and the data of the source and destination satellites; Step 2: Based on the configuration data and the data of the source satellite and the destination satellite, calculate the total number of inter-orbit hops in the east direction and the total number of inter-orbit hops in the west direction, as well as the number of intra-orbit hops in the four directions of northeast, southeast, northwest and southwest, and determine the path with the minimum number of hops and the optimal direction of intra-orbit inter-orbit hops; Step 3: Based on the minimum hop count path and the optimal direction for hops between tracks within the track, restrict the search space for the minimum hop count path to a directed acyclic graph of a spherical rectangle, where the horizontal width of the spherical rectangle is the minimum number of hops between tracks. The longitudinal height is the minimum number of jumps within the track. Furthermore, the source satellite and the target satellite are located at opposite corners of the spherical rectangle; Step 4: In the directed acyclic graph of the spherical rectangle, depending on whether the source satellite and the target satellite fly in the same direction, different inter-orbit hop and intra-orbit hop allocation strategies are adopted. Priority is given to allocating the number of inter-orbit hops to positions close to the two poles of the Earth to shorten the path length, and constructing path segments extending forward from the source satellite and path segments extending backward from the target satellite. Step 5: Merge the forward and reverse path segments to form the inter-satellite communication route with the minimum number of hops and the shortest path length from the source satellite to the destination satellite.

2. The method according to claim 1, characterized in that, In step one, The configuration data includes: the number of orbital planes, the number of satellites in each orbital plane, the orbital inclination and semi-major axis of all satellites, the difference in right ascension of the ascending node between adjacent orbital planes, the phase difference between adjacent satellites in an orbital plane, the phase offset between satellites in adjacent orbital planes, and the inter-satellite link connection relationship. The data for the source and destination satellites in the routing includes the positions of the source and destination satellites.

3. The method according to claim 1, characterized in that, Step one specifically involves, Step 11: Represent the Walker-Delta constellation as follows: N Deployed within the orbital plane N × M 10 satellites, evenly distributed in each orbital plane M The configuration of the satellite; Steps one and two: Represent the positions of each satellite using six Keplerian orbital elements, and the first satellite in the network... i orbital plane number j Each satellite is represented as , , The longitude and latitude argument of the satellite's ascending node are updated in real time using an orbital recursion algorithm. Step 13: Establish intra-orbit links between each satellite and its adjacent satellites in the orbital plane, and establish inter-orbit links with the nearest satellites in the left and right adjacent orbital planes, thus obtaining the connection relationship of four inter-satellite links.

4. The method according to claim 1, characterized in that, Step two specifically involves: Step 21: Calculate the difference in longitude angle between the source satellite orbital plane and the target satellite orbital plane in the east direction to obtain the total number of hops in the east direction and the total number of hops in the west direction; The method for calculating the eastward longitude angle difference between the source satellite orbital plane and the destination satellite orbital plane is as follows: In the formula, The initial ascending node longitude of the target satellite; The longitude of the initial ascending node of the source satellite; It is an inscribed angle; The calculation method for the total number of track jumps in the east direction is as follows: In the formula, The difference in right ascension between the ascending nodes of adjacent planes; The calculation method for the total number of track jumps in the west direction is as follows: Step 22: Calculate the in-track phase angle difference corresponding to the track jumps in the east and west directions, respectively. The calculation method is as follows: In the formula, The difference in in-orbit phase angle corresponding to the inter-orbit jump in the eastward direction; The difference in in-orbit phase angle corresponding to the westward inter-orbit jump; The target satellite's latitude argument; The source satellite's latitude and angle; This represents the phase offset between satellites in adjacent planes. , F For phase factor, ; Steps 2 and 3: Calculate the number of hops in the four directions (northeast, southeast, northwest, and southwest) by combining the in-orbit phase angle difference between the source satellite and the target satellite; The method for calculating the number of jumps in the combination of the four directions of northeast, southeast, northwest, and southwest is as follows: In the formula, The jump count is in the northeast direction; The jump count is in the southeast direction; This represents the number of jumps in the northwest direction. This refers to the number of jumps in the southwest direction. The phase difference between adjacent satellites in the orbital plane. ; Step 24: The combination corresponding to the minimum value of the four direction combinations is the path with the minimum number of jumps; determine the optimal direction for jumping between rails within the rail based on the path with the minimum number of jumps; In the formula, This represents the minimum number of hops between tracks. This represents the minimum number of hops within the track.

5. The method according to claim 1, characterized in that, In step four, The method for determining the current flight direction of a satellite is as follows: Calculate the satellite's latitude argument. In the formula, To normalize the data to an interval , For the first i orbital plane number j One satellite, , ; when Time Satellite In ascending orbit; when Time Satellite It is in the process of ascending to a higher orbit.

6. The method according to claim 1, characterized in that, In step four, When the source satellite and the destination satellite are flying in the same direction, the path segment is constructed in the following way: The forward construction path segment starts from the source satellite.

1. Construct the path segment backward from the target satellite ; and the source satellite node join in China and the target satellite node join in middle; calculate Current terminal satellites The revenue value of adjacent satellites in the direction and Current starting satellite direction The revenue value of adjacent satellites in the opposite direction, where the revenue value is: In the formula, This represents the current satellite latitude angle. The latitude argument of adjacent satellites; Add the adjacent satellite node on the side with the larger benefit value as a new routing node to the corresponding path segment. If the source satellite value is larger, add it to... At the end, add to the target satellite side when it is larger. At the very front; Repeat execution times, when End satellite nodes and When the first and second satellite nodes are in the same orbital plane, from Add satellites in the same orbit to supplement the in-orbit nodes in sequence. Until the two nodes are connected.

7. The method according to claim 1, characterized in that, In step four, When the source satellite and the destination satellite are flying in different directions, the path segment is constructed in the following way: The forward construction path segment starts from the source satellite.

1. Construct the path segment backward from the target satellite ; and the source satellite node join in China and the target satellite node join in middle; calculate Current terminal satellite to The revenue value of adjacent satellites in the direction and Current starting satellite direction The revenue value of adjacent satellites in the opposite direction, where the revenue value is: Add the adjacent satellite nodes on the side with the larger gain value to the corresponding path segment; if the source satellite value is larger, add it to... At the end, add to the target satellite side when it is larger. At the very front; Repeat execution times, when End satellite nodes and When the first satellite node can be directly connected via inter-orbit hop, from Add inter-orbit neighbor satellite nodes sequentially to Until the two nodes are connected.

8. A satellite inter-satellite communication routing planning device for the Walker-Delta constellation, characterized in that, The device includes: Data acquisition module: Acquires configuration data of the Walker-Delta constellation and data on the routing source and destination satellites; Path calculation module: Based on configuration data and data from the source and destination satellites, it calculates the total number of inter-orbit hops in the east direction and the total number of inter-orbit hops in the west direction, as well as the number of intra-orbit hops in the four directions of northeast, southeast, northwest, and southwest, and determines the path with the minimum number of hops and the optimal direction for intra-orbit and inter-orbit hops. Path space constraint module: Based on the minimum hop count path and the optimal direction of intra-rail and inter-rail hops, the search space for the minimum hop count path is constrained to a directed acyclic graph of a spherical rectangle, where the horizontal width of the spherical rectangle is the minimum inter-rail hop count. The longitudinal height is the minimum number of jumps within the track. Furthermore, the source satellite and the target satellite are located at opposite corners of the spherical rectangle; Path construction module: In the directed acyclic graph of the spherical rectangle, different inter-orbit hop and intra-orbit hop allocation strategies are adopted according to whether the source satellite and the target satellite fly in the same direction. The number of inter-orbit hops is preferentially allocated to the positions close to the two poles of the Earth to shorten the path length, and the path segments extending from the source satellite in the forward direction and the path segments extending from the target satellite in the reverse direction are constructed. Path merging module: Merges forward and reverse path segments to form an inter-satellite communication route with the minimum number of hops and the shortest path length from the source satellite to the destination satellite.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1-7.

10. A computer-readable storage medium for storing computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the steps of the method according to any one of claims 1-7.

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