Multi-mode satellite communication switching method, device and equipment and storage medium

Abstract

The application provides a multi-mode satellite communication switching method, device, equipment and storage medium, the method comprises the following steps: judging the availability according to the ground network signal quality, obtaining a candidate satellite list by matching the capacity of visible satellites according to the service type when the communication demand is not met; information age calculation is performed on each candidate satellite to obtain an information age index reflecting the timeliness of data; the satellite with the freshest data is selected according to the information age index to trigger the switching from the ground network to the satellite; in the satellite communication mode, the remaining visible duration is predicted based on the orbit parameters, and when the visible duration is predicted to be insufficient or the link quality is reduced, re-matching is triggered, and the optimal satellite is selected to complete the switching by comprehensively considering the information age improvement and the switching frequency penalty coefficient. By introducing the information age as the switching decision index, the communication service quality of the timeliness sensitive service is effectively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a multi-mode satellite communication switching method, apparatus, device, and storage medium. Background Technology

[0002] With the rapid development of satellite communication technology, multi-mode satellite terminal equipment has the ability to switch between terrestrial networks and various satellite networks, providing users with seamless communication coverage. In practical applications, the terminal needs to dynamically select the optimal communication link based on network conditions and service requirements.

[0003] However, existing satellite handover methods primarily rely on link quality parameters such as signal strength or signal-to-noise ratio for handover decisions, focusing only on link transmission capacity without considering the timeliness requirements of data. This handover strategy has significant shortcomings: for time-sensitive service scenarios such as emergency communication, real-time positioning, and voice calls, even if connected to a satellite with good link quality, if the data carried by that satellite is not updated in a timely manner, it still cannot meet the actual requirements of information freshness for the service; at the same time, because it fails to proactively assess data timeliness based on satellite orbital motion patterns, when a satellite is about to leave the visible range, the system cannot switch to a backup satellite with more timely data updates in advance, resulting in difficulty in guaranteeing the quality of communication services. Summary of the Invention

[0004] The main objective of this invention is to solve the technical problem that existing satellite handover methods do not consider data timeliness requirements and rely solely on link quality indicators for handover decisions, making it difficult to guarantee the communication service quality of time-sensitive services. This invention provides a multi-mode satellite communication handover method, characterized in that the multi-mode satellite communication handover method includes: The availability of the terrestrial network is determined based on the real-time detection of the terrestrial network signal quality by the terminal equipment. When the availability of the terrestrial network does not meet the communication requirements, the satellite communication capabilities of the visible satellite set are matched according to the preset service type to obtain a list of candidate satellites. The information age of each satellite in the candidate satellite list is calculated to obtain the information age index of each satellite for the preset service type; Based on the information age index, select the satellite with the youngest information age from the candidate satellite list as the target satellite, and trigger the handover execution command from the ground network to the target satellite; In satellite communication mode, the set of visible satellites is re-matched based on the link quality and remaining visibility time of the currently connected satellites. When a better satellite is detected or the current satellite is about to lose connection, a satellite handover command is triggered.

[0005] The present invention also provides a multi-mode satellite communication switching device, characterized in that the multi-mode satellite communication switching device comprises: The capability matching module is used to determine the availability of the ground network based on the real-time detection of the ground network signal quality by the terminal device, and when the availability of the ground network does not meet the communication requirements, it performs satellite communication capability matching on the set of visible satellites according to the preset service type to obtain a list of candidate satellites; The information age calculation module is used to calculate the information age of each satellite in the candidate satellite list to obtain the information age index of each satellite for the preset service type. The initial switching module is used to select the satellite with the youngest information age from the candidate satellite list as the target satellite according to the information age index, and trigger the switching execution command from the ground network to the target satellite; The inter-satellite handover module is used to re-match the set of visible satellites in satellite communication mode based on the link quality and remaining visibility time of the currently connected satellites. When a better satellite is detected or the current satellite is about to lose connection, an inter-satellite handover command is triggered.

[0006] The present invention also provides a multi-mode satellite communication switching device, comprising: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; the at least one processor invokes the instructions in the memory to cause the multi-mode satellite communication switching device to perform the steps of the multi-mode satellite communication switching method described above.

[0007] The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the steps of the multi-mode satellite communication switching method described above.

[0008] The aforementioned multi-mode satellite communication handover method, apparatus, equipment, and storage medium determine availability based on terrestrial network signal quality. When communication requirements are not met, a list of candidate satellites is obtained by matching the capabilities of visible satellites according to service type. The information age of each candidate satellite is calculated to obtain an information age index reflecting data timeliness. Based on the information age index, the satellite with the freshest data is selected to trigger the handover from the terrestrial network to the satellite. In satellite communication mode, the remaining visibility duration is predicted based on orbital parameters. When insufficient visibility duration or link quality is predicted, re-matching is triggered. The optimal satellite is selected to complete the handover by comprehensively considering the information age improvement and the handover frequency penalty coefficient. This invention effectively ensures the communication service quality of time-sensitive services by introducing information age as a handover decision indicator.

[0009] Beneficial Effects: By introducing information age as a decision indicator for satellite handover, the handover process no longer relies solely on link quality parameters but incorporates data timeliness into the decision-making process. This allows for the selection of candidate satellites that meet timeliness requirements during the service type and satellite capability matching stage. In the initial handover from the terrestrial network to the satellite, selecting the satellite with the youngest information age ensures that the terminal connects to the communication link with the most timely data updates. In satellite communication mode, the prediction of remaining visibility time through orbital parameters enables a shift from passive response to proactive prediction, allowing the system to complete handover preparation before the current satellite leaves the visible range, avoiding communication interruptions due to delayed handover timing. The synergistic effect of these technologies effectively ensures the quality and continuity of communication services in time-sensitive service scenarios such as emergency communication and real-time positioning.

[0010] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained in accordance with the structures particularly pointed out in the description, claims and drawings.

[0011] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the first embodiment of the multi-mode satellite communication switching method in this invention; Figure 2 This is a schematic diagram of a second embodiment of the multi-mode satellite communication switching method in this invention; Figure 3 This is a schematic diagram of one embodiment of the multi-mode satellite communication switching device in this invention; Figure 4 This is a schematic diagram of one embodiment of the multi-mode satellite communication switching device in this invention. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions 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, 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.

[0014] The terms "comprising" and "having," and any variations thereof, used in the embodiments of this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0015] To facilitate understanding of this embodiment, a multi-mode satellite communication handover method disclosed in this invention will first be described in detail. For example... Figure 1 As shown, this method includes the following steps: 101. Determine the availability of the ground network based on the real-time detection of the ground network signal quality by the terminal equipment, and when the availability of the ground network does not meet the communication requirements, perform satellite communication capability matching on the set of visible satellites according to the preset service type to obtain a list of candidate satellites; In this embodiment, the step of determining the availability of the ground network based on the real-time detected ground network signal quality by the terminal device, and matching the satellite communication capabilities of the visible satellite set according to a preset service type to obtain a candidate satellite list when the ground network availability does not meet communication requirements, includes: extracting parameters from the ground network signal quality to obtain ground network quality parameters including signal strength, network latency, and packet loss rate; comparing the ground network quality parameters with a preset set of network quality thresholds, and determining that the ground network availability does not meet communication requirements when any evaluation parameter is lower than the corresponding threshold; extracting service requirement parameters according to the preset service type, wherein the service requirement parameters include bandwidth requirements, latency requirements, and reliability requirements; calculating the matching degree between the communication capability parameters of each satellite in the visible satellite set and the service requirement parameters, and selecting satellites whose matching degree meets a preset matching threshold to form a candidate satellite list.

[0016] Specifically, terminal devices can extract parameters from terrestrial network signal quality to obtain terrestrial network quality parameters including signal strength, network latency, and packet loss rate. These three parameters reflect different aspects of the terrestrial network characteristics: signal strength reflects the stability of the link between the terminal device and the base station, network latency reflects the real-time performance of data transmission, and packet loss rate reflects the reliability of the communication link.

[0017] After obtaining the aforementioned terrestrial network quality parameters, the terminal device can compare these parameters with a preset set of network quality thresholds. This set of network quality thresholds is pre-configured in the terminal device, and different communication scenarios may correspond to different threshold requirements. For example, for voice call services, the latency threshold may be set more strictly, while for ordinary data transmission services, the latency threshold can be relatively more lenient. When any evaluation parameter is detected to be lower than its corresponding threshold, it can be determined that the availability of the current terrestrial network does not meet the communication requirements, and a handover process to the satellite network needs to be triggered.

[0018] Understandably, when the availability of the ground network does not meet communication needs, a satellite is not randomly selected for connection. Instead, a suitable satellite is chosen based on the current service requirements. Different service types have different requirements for satellite communication capabilities. For example, emergency distress signals require extremely low latency and extremely high reliability, while ordinary data transmission may have higher bandwidth requirements. Therefore, after determining that a switch to a satellite network is necessary, the terminal device will extract service requirement parameters based on the preset service type.

[0019] Business requirement parameters refer to the specific requirements of the current business on the characteristics of the communication link, mainly including three dimensions: bandwidth requirement, latency requirement, and reliability requirement. Bandwidth requirement represents the minimum data transmission rate required by the business; latency requirement represents the maximum end-to-end latency that the business can tolerate; and reliability requirement represents the business's requirements for reliability indicators such as packet loss rate and bit error rate. These requirement parameters can be pre-configured and stored for different business types.

[0020] After obtaining the service requirements parameters, the terminal device needs to evaluate each satellite in the currently visible satellite set. The visible satellite set here refers to all satellites with which the terminal device can establish a communication link at the current moment, including different types of satellites such as BeiDou satellites, Tiantong satellites, and low-Earth orbit satellites. Different types of satellites have different communication capability parameters. For example, BeiDou satellites mainly provide short message communication services, Tiantong satellites can provide voice and data communication services, while low-Earth orbit satellites can provide higher-speed data transmission services.

[0021] Furthermore, the terminal device can calculate the matching degree between the communication capability parameters of each satellite in the visible satellite set and the service requirement parameters. This matching degree calculation process is essentially a multi-dimensional capability-requirement comparison process: for the bandwidth dimension, it calculates whether the bandwidth provided by the satellite meets the bandwidth requirements of the service; for the latency dimension, it calculates whether the end-to-end latency of the satellite link is lower than the latency requirements of the service; for the reliability dimension, it calculates whether the reliability indicators of the satellite link meet the reliability requirements of the service. Through this multi-dimensional comparison, a matching degree value can be calculated for each satellite, which reflects the degree to which the satellite meets the current service requirements.

[0022] The terminal device can select satellites whose matching degree meets a preset matching threshold to form a candidate satellite list based on the calculated matching degree. This preset matching threshold is set according to actual needs; only satellites with a matching degree reaching a certain level can enter the candidate list. Through this screening, satellites that are clearly unsuitable for the current business can be excluded, avoiding subsequent invalid information age calculations and switching decisions. In this way, each satellite in the resulting candidate satellite list basically meets the current business needs in terms of communication capabilities.

[0023] It's important to note that the matching degree calculation here is not a simple weighted summation, but a comprehensive evaluation process. For certain key requirements, if a satellite cannot meet them at all, then even if other indicators perform well, that satellite should not be included in the candidate list. For example, for services requiring real-time voice calls, if a satellite can only provide short message service and not voice service, then regardless of other parameters, that satellite should not be selected for the candidate list. Therefore, in the actual calculation of the matching degree, a multi-level screening method can be adopted: first, a hard constraint judgment is made, and then soft indicators are scored for satellites that meet the hard constraints.

[0024] 102. Calculate the information age of each satellite in the candidate satellite list to obtain the information age index of each satellite for the preset service type; In this embodiment, the step of calculating the information age of each satellite in the candidate satellite list to obtain the information age index of each satellite for the preset service type includes: obtaining the timestamp of the most recent successful data update for each satellite in the candidate satellite list for the preset service type to obtain the service data update time corresponding to each satellite; calculating the time difference between the current system time and the service data update time corresponding to each satellite to obtain the initial information age value of each satellite for the preset service type; and cumulatively correcting the corresponding initial information age value according to the predicted transmission delay of each satellite to obtain the information age index of each satellite including transmission delay compensation.

[0025] In this embodiment, after obtaining the list of candidate satellites, the terminal device needs to calculate the Age of Information (AoI) for each satellite in the list. The Age of Information is an indicator reflecting the timeliness of data, used to quantify how much time has passed since the data carried on the satellite was last generated. Different service types have different data content and update frequencies; therefore, the calculation of the Age of Information needs to be tailored to the specific service type.

[0026] It's important to note that the concept of Information Age (AoI) is fundamentally different from traditional link quality metrics. Traditional link quality metrics, such as signal strength and signal-to-noise ratio, focus on the transmission capacity of the communication link itself, while AoI focuses on the timeliness of data content. Even if a satellite has excellent link quality, if the data on it hasn't been updated for a long time, the service quality of that satellite will still be insufficient for services requiring real-time information. For example, in emergency distress calls, it's crucial to transmit distress signals to ground rescue centers as quickly as possible. If the connection between a satellite and the ground station has been interrupted for an extended period, even if the terminal can successfully transmit data to the satellite, this data cannot be transmitted to the ground in a timely manner, resulting in an excessively high AoI.

[0027] Specifically, the terminal device can obtain the timestamp of the most recent successful data update for each satellite in the candidate satellite list for a preset service type. This timestamp records the moment when the satellite last received updated data from the ground for a specific service type. The data update mechanisms for different service types may differ; some services update periodically, while others are event-triggered. By querying the satellite's data update records, the update time of the corresponding service data for each satellite can be obtained.

[0028] After obtaining the update time of the business data, the terminal device can calculate the time difference based on the current system time and the update time of the business data corresponding to each satellite. This time difference reflects how much time has passed since the last data update and can be called the initial information age value. The larger the initial AoI value, the older the data and the worse its timeliness; the smaller the initial AoI value, the fresher the data and the better its timeliness.

[0029] Understandably, considering only the initial AoI value is not accurate enough. Even if data on a satellite has just been updated, if a terminal device sends data to that satellite, this data still needs to undergo a transmission delay before reaching the ground station or other destinations. Therefore, the information age of the data when it is actually acquired by the receiver should be the initial AoI plus the transmission delay. Thus, this embodiment introduces a transmission delay compensation mechanism.

[0030] Furthermore, the terminal device can cumulatively correct the corresponding initial information age value based on the predicted transmission delay of each satellite. The predicted transmission delay here refers to the time required for the terminal device to send data to the satellite and for the satellite to relay it to its final destination. The calculation of the predicted transmission delay can be based on factors such as the satellite's orbital position, distance from the ground station, and the transmission rate of the satellite-to-ground link. For geostationary orbit satellites, due to their higher orbital altitude, their transmission delay is typically greater; while for low Earth orbit satellites, due to their lower orbital altitude, the transmission delay is relatively smaller, but more frequent inter-satellite or satellite-to-ground handovers are required.

[0031] By summing the initial AoI value with the predicted transmission delay, an information age index that includes transmission delay compensation can be obtained. This index more accurately reflects the actual information age when the data arrives at its destination if the terminal device selects that satellite for communication. Thus, in the subsequent satellite selection process, decisions can be made based on this compensated AoI index, thereby selecting satellites that truly meet the timeliness requirements of the service.

[0032] It should be further clarified that the data update mechanism and AoI calculation method may differ for different preset service types. For example, for location services, AoI reflects how much time has passed since the terminal device's location information was last reported; for voice call services, AoI reflects the time span from the generation of the voice data packet to the completion of transmission; for emergency message services, AoI reflects the time span from the generation of the emergency message to its receipt by the rescue center. Therefore, in actual calculations, the meaning and acquisition method of the data update time need to be determined based on the specific service type.

[0033] Furthermore, because satellites move at high speeds, their orbital positions and relative positions with ground stations are constantly changing, resulting in dynamic transmission delays. Therefore, when calculating and predicting transmission delays, it is necessary to incorporate the satellite's real-time orbital parameters. This prediction can be based on the satellite's ephemeris data to calculate its position and velocity over a future period, thereby deducing the data transmission path and delay. This dynamic prediction mechanism makes the calculation of the AoI (Aspect-Oriented Intelligence) index more accurate and closer to real-world communication scenarios.

[0034] 103. Select the satellite with the youngest information age from the candidate satellite list according to the information age index as the target satellite, and trigger the handover execution command from the ground network to the target satellite; In this embodiment, after calculating the AoI index of each satellite in the candidate satellite list, the terminal device can select the satellite with the smallest information age from the candidate list as the target satellite based on these indices. This selection process is relatively straightforward; it involves numerically sorting the AoI indices of each satellite and selecting the satellite with the smallest AoI value.

[0035] Specifically, for example, the hypothetical device might select a satellite from a list containing one BeiDou satellite, one Tiantong satellite, and one low-Earth orbit (LEO) satellite. For short message services, the BeiDou satellite's AoI (Aspect of Interest) might be lower because the BeiDou system is specifically optimized for short message transmission speed. For voice calls, the Tiantong satellite's AoI might be better because it maintains a stable connection with ground stations and supports real-time voice transmission. For large data transmission services, the LEO satellite's AoI might be better because its low orbital altitude results in lower transmission latency and higher data rates. By comparing the AoI of these three satellites for the current service type, the terminal device can select the satellite with the lowest AoI as the target satellite.

[0036] After identifying the target satellite, the terminal device can generate and trigger a handover execution command from the terrestrial network to that target satellite. This handover execution command includes key parameters required for the handover, such as the target satellite's identification information, frequency band parameters, and power parameters. The terminal device sends a link establishment request to the target satellite, and the target satellite responds upon receiving the request. Both parties complete the handshake process and establish a satellite communication link.

[0037] 104. In satellite communication mode, the set of visible satellites is re-matched based on the link quality and remaining visibility time of the currently connected satellites. When a better satellite is detected or the current satellite is about to lose connection, a satellite handover command is triggered.

[0038] In this embodiment, after successfully switching to satellite communication mode, the terminal device does not maintain a continuous connection with the same satellite. Instead, it needs to continuously monitor the status of the currently connected satellite and switch between satellites when necessary. This is because satellites are in high-speed motion, and their relative position to the terminal device is constantly changing. The currently connected satellite may gradually move away from the terminal device and eventually leave its visible range. At the same time, new satellites with better communication conditions may appear in the visible satellite set.

[0039] Specifically, the terminal device can monitor the link quality of the currently connected satellite in real time, including indicators such as signal strength and bit error rate. When a continuous decline in link quality is detected and it falls below a preset quality threshold, it indicates that the communication conditions of the current satellite have deteriorated, and a switch to another satellite needs to be considered. Furthermore, the terminal device can calculate the remaining visibility time of the currently connected satellite relative to the terminal device based on its orbital parameters. The remaining visibility time reflects how long the current satellite can maintain communication with the terminal device. When this time falls below a preset threshold, it means that the current satellite is about to leave the visibility range, and a handover process needs to be initiated in advance.

[0040] When insufficient link quality or insufficient remaining visibility time is detected, the terminal device can re-match the current set of visible satellites. This re-matching process is similar to the initial satellite selection process, and needs to comprehensively consider factors such as the communication capabilities, information age, and handover costs of each candidate satellite. If a better satellite than the currently connected satellite is found in the set of visible satellites, or if the current satellite is about to lose connection, the terminal device will trigger an inter-satellite handover command to complete the handover from the current satellite to the new target satellite.

[0041] In this embodiment, availability is determined based on terrestrial network signal quality. When communication requirements are not met, a list of candidate satellites is obtained by matching the capabilities of visible satellites according to service type. The information age of each candidate satellite is calculated to obtain an information age index reflecting data timeliness. Based on the information age index, the satellite with the freshest data is selected to trigger a handover from the terrestrial network to the satellite. In satellite communication mode, the remaining visibility duration is predicted based on orbital parameters. When insufficient visibility duration or link quality is predicted, a re-matching is triggered. The optimal satellite is selected to complete the handover by comprehensively considering the information age improvement and the handover frequency penalty coefficient. This invention effectively ensures the communication service quality of time-sensitive services by introducing information age as a handover decision indicator.

[0042] Please see Figure 2 Another embodiment of the multi-mode satellite communication switching method in this application includes: 201. Determine the availability of the ground network based on the real-time detection of the ground network signal quality by the terminal equipment, and when the availability of the ground network does not meet the communication requirements, perform satellite communication capability matching on the set of visible satellites according to the preset service type to obtain a list of candidate satellites; 202. Calculate the information age of each satellite in the candidate satellite list to obtain the information age index of each satellite for the preset service type; 203. Select the satellite with the youngest information age from the candidate satellite list as the target satellite according to the information age index, and trigger the handover execution command from the ground network to the target satellite; In this embodiment, steps 201-203 are similar to steps 101-103 in the first embodiment, and will not be described again here.

[0043] 204. In satellite communication mode, the satellite position is calculated in real time based on the orbital parameters of the currently connected satellite, and the elevation angle parameter of the currently connected satellite is calculated based on the relative geometric relationship between the satellite position and the terminal device position. In this embodiment, the satellite's orbital parameters are typically included in the ephemeris data broadcast by the satellite. Ephemeris data describes the satellite's orbital features, such as its semi-major axis, eccentricity, orbital inclination, and right ascension of the ascending node. These parameters allow for the calculation of the satellite's three-dimensional spatial position at any given time. After receiving and parsing the ephemeris data, the terminal device, in conjunction with the current system time, uses a satellite orbital dynamics model to calculate the satellite's position in real time. This calculation essentially involves estimating the satellite's position coordinates in a geocentric inertial coordinate system or a geocentric-Earth-fixed coordinate system based on Kepler's laws and the satellite's equations of motion.

[0044] Furthermore, after obtaining the satellite's real-time position, the terminal device also needs to determine its own position information. The terminal device's position can be obtained through navigation systems such as GPS and BeiDou, or through base station positioning or other positioning methods. With these two three-dimensional spatial coordinates—the satellite position and the terminal position—the relative geometric relationship between them can be established.

[0045] Specifically, the terminal device can calculate the direction vector of the line connecting the satellite's position and the terminal device's position, and combine this with the ground plane at the terminal device's location to calculate the satellite's elevation angle relative to the terminal device. Here, the elevation angle refers to the angle between the line of sight from the terminal device's position to the satellite and the ground plane. The elevation angle is a key indicator for determining satellite visibility: when the elevation angle is large, the satellite is located high above the terminal device, and communication conditions are usually good; when the elevation angle is small, the satellite is close to the horizon, and the signal may be affected by terrain, buildings, etc., potentially degrading communication quality; when the elevation angle drops below a certain critical value, the satellite will disappear from the terminal device's field of view, and communication cannot continue.

[0046] 205. Based on the elevation angle parameter and the preset minimum elevation angle threshold, a visibility determination is made. When the elevation angle parameter is lower than the minimum elevation angle threshold, the remaining visibility duration of the currently connected satellite is predicted. In this embodiment, after obtaining the elevation angle parameter of the currently connected satellite, the terminal device can compare the elevation angle parameter with a preset minimum elevation angle threshold to determine the visibility status of the satellite.

[0047] It should be noted that the minimum elevation angle threshold is set based on actual communication needs and environmental conditions. Generally, when the satellite's elevation angle is below a certain value, the communication link between the satellite and the terminal equipment will be severely affected by factors such as terrain undulations, building obstruction, and atmospheric absorption, leading to a sharp decline in signal quality or even complete interruption. Therefore, a minimum elevation angle threshold can be preset, such as a common setting of 5 degrees or 10 degrees. When the satellite's elevation angle is below this threshold, it is considered that the satellite is about to lose visibility.

[0048] Specifically, the terminal device compares the real-time calculated elevation angle parameter with the minimum elevation angle threshold. If the elevation angle parameter is greater than or equal to the minimum elevation angle threshold, it means that the satellite is still in good visibility condition and there is no need to consider switching for the time being; if the elevation angle parameter is lower than the minimum elevation angle threshold, it means that the satellite is approaching the horizon and is about to leave the visibility range, at which point the predictive switching process needs to be initiated.

[0049] When the elevation angle parameter is detected to be below the minimum elevation angle threshold, the terminal device does not immediately wait for the satellite to completely lose connection before switching. Instead, it proactively predicts the remaining visibility time of the currently connected satellite. The remaining visibility time refers to the time from the current moment that the satellite can maintain communication with the terminal device. This prediction can be based on the satellite's orbital motion and velocity: according to the satellite's current position, velocity vector, and orbital parameters, the satellite's trajectory can be calculated, thus determining when the satellite's elevation angle will decrease to a level where communication is impossible—that is, the moment the satellite completely leaves the visibility window. The time difference between the current moment and that moment is the remaining visibility time. Understandably, through this orbital prediction method, the terminal device can detect in advance that the satellite is about to lose connection, rather than passively waiting for communication to be interrupted before reacting.

[0050] 206. When the predicted visible duration is lower than the preset duration threshold or the link quality parameter of the currently connected satellite is lower than the preset quality threshold, the visible satellite set is re-matched. When a better satellite is detected or the current satellite is about to lose connection, a satellite handover command is triggered.

[0051] In this embodiment, the re-matching of the visible satellite set includes: calculating the information age of each candidate satellite in the visible satellite set, and calculating the difference between the information age index of each candidate satellite and the information age index of the currently connected satellite to obtain the information age improvement amount of each candidate satellite; obtaining the historical satellite switching count within a preset time window, and calculating the switching frequency penalty coefficient based on the historical satellite switching count; calculating the switching priority score of each candidate satellite based on the information age improvement amount and the switching frequency penalty coefficient, selecting the candidate satellite with the highest switching priority score as the next target satellite, and triggering an inter-satellite switching command to the next target satellite.

[0052] Specifically, the re-matching process between satellites differs fundamentally from the initial matching process when switching from a terrestrial network to a satellite network. During the initial handover, the terminal device is in a terrestrial network environment and has not yet established a satellite link; therefore, it can directly select the satellite with the lowest AoI as the target satellite without considering the cost of handover. However, when handover between satellites in satellite communication mode, the terminal device has already established a stable communication link with a particular satellite. Frequent handovers between different satellites in this case incur additional handover overhead, including brief communication interruptions during the handover process, signaling interaction overhead, and potential data loss. Therefore, inter-satellite handover should not merely pursue the absolute minimization of AoI, but rather requires a trade-off between data timeliness and handover frequency.

[0053] Specifically, the terminal device can perform AoI calculations for each candidate satellite in the visible satellite set. The AoI calculation method here is similar to that in step 102, both based on data update time and transmission latency. However, unlike step 102, a new evaluation dimension is introduced here: the improvement in information age. The improvement in information age refers to the difference between the AoI index of the candidate satellite and the AoI index of the currently connected satellite. This difference reflects the extent to which data timeliness can be improved if the device switches to the candidate satellite.

[0054] Understandably, the concept of information age improvement is introduced to avoid switching for a tiny increase in AoI (Aspect of Identity). For example, if the AoI of the currently connected satellite is a certain value, and the AoI of a candidate satellite is only slightly lower, switching, while theoretically resulting in a lower AoI, might not outweigh the cost of the switch itself. By calculating information age improvement, the benefits of switching can be quantified; only when the improvement is sufficiently large is the switch worthwhile.

[0055] Furthermore, the terminal device also needs to consider the impact of the handover frequency. If the terminal device frequently performs satellite handovers within a short period of time, it will not only consume a large amount of signaling resources and energy, but may also affect the stability of communication. Therefore, this embodiment introduces the concept of a handover frequency penalty coefficient. The terminal device can obtain the historical number of satellite handovers within a preset time window. This time window can be a period of time in the past, such as the last few minutes or hours. Based on the historical number of handovers, the handover frequency penalty coefficient can be calculated: the more handovers there are, the more frequent the recent handovers are, and the larger the penalty coefficient is; the fewer the handovers there are, the smaller the penalty coefficient is. Through this penalty mechanism, excessively frequent handover behavior can be suppressed.

[0056] After obtaining the information age improvement and handover frequency penalty coefficient for each candidate satellite, the terminal device can comprehensively evaluate each candidate satellite based on these two factors and calculate a handover priority score. This scoring mechanism needs to balance two conflicting objectives: on the one hand, it aims to switch to satellites with lower AoI to ensure data timeliness; on the other hand, it aims to reduce the number of handovers to lower handover costs. The handover priority score comprehensively considers the information age improvement (representing handover benefits) and the handover frequency penalty coefficient (representing handover costs), and obtains a comprehensive score through a certain calculation method. The higher the score, the more suitable the candidate satellite is as the next target satellite, as it can bring significant AoI improvement without causing excessively frequent handovers.

[0057] The terminal device selects the candidate satellite with the highest handover priority score as the next target satellite and triggers a handover command to that satellite. This handover process includes a series of operations such as sending a link establishment request to the new target satellite, releasing the link with the current satellite, and establishing a link with the new satellite. Through this satellite handover mechanism based on dual-target optimization, the terminal device can ensure data timeliness while avoiding the negative impact of excessively frequent handovers, thus achieving a good balance between communication quality and system stability.

[0058] Furthermore, the step of obtaining the historical satellite handover count within a preset time window and calculating the handover frequency penalty coefficient based on the historical satellite handover count includes: statistically analyzing the satellite handover events that occur within the preset time window to obtain the historical satellite handover count; calculating the handover frequency ratio based on the ratio of the historical satellite handover count to a preset handover count benchmark value; and calculating the penalty coefficient based on the handover frequency ratio using a nonlinear mapping function to obtain the handover frequency penalty coefficient.

[0059] Specifically, when calculating the handover frequency penalty coefficient, the terminal device first needs to statistically analyze the satellite handover events that occurred within a preset time window. This statistical process involves backtracking historical handover behavior. The terminal device can maintain a handover event record table, recording the time of each satellite handover. When it is necessary to calculate the handover frequency penalty coefficient, the terminal device traces back a preset time window from the current time and queries how many satellite handovers occurred within that time window, thus obtaining the historical satellite handover count.

[0060] It should be noted that the preset time window here can be configured according to the actual business scenario. For scenarios with high mobility and frequent satellite handover, the time window can be set relatively short to more sensitively capture frequent handover behavior in the short term; for relatively stable communication scenarios, the time window can be set relatively long to reflect handover patterns over a longer time scale. Different time window settings will affect the calculation results of the handover frequency penalty coefficient, and thus affect the decision on inter-satellite handover.

[0061] After obtaining the historical satellite handover count, the terminal equipment needs to convert this count into a normalized frequency indicator. This is because the same number of handovers represents different levels of handover frequency depending on the length of the time window. For example, several handovers within a short time window indicate very frequent handovers, while the same number of handovers within a longer time window may represent a normal handover frequency.

[0062] Therefore, this embodiment introduces the concept of a handover frequency baseline. The handover frequency baseline represents the number of handovers that the system considers reasonable or acceptable within a preset time window. This baseline can be determined based on the system's design goals, resource constraints, and historical statistical data. Furthermore, the terminal device can calculate the handover frequency ratio by comparing the historical satellite handover frequency with the handover frequency baseline. This ratio reflects the degree of deviation of the current handover frequency from the baseline frequency: when the ratio is close to 1, it indicates that the handover frequency is within the normal range; when the ratio is greater than 1, it indicates that the handover frequency exceeds the baseline, and handovers are relatively frequent; when the ratio is less than 1, it indicates that the handover frequency is lower than the baseline, and handovers are relatively sparse.

[0063] Understandably, the relationship between the handover frequency ratio and the handover frequency penalty coefficient is not a simple linear one. If a linear mapping were used, even a small change in the handover frequency would lead to a proportional change in the penalty coefficient, which might not accurately reflect the actual impact of handover behavior on the system. In reality, when the handover frequency is within a reasonable range, the system can handle handover overhead well, and the penalty should be relatively light; however, when the handover frequency exceeds the reasonable range and continues to rise, the system burden increases dramatically, and the penalty should be significantly stronger. Therefore, a nonlinear mapping function is needed to establish the mapping relationship between the handover frequency ratio and the penalty coefficient.

[0064] Specifically, the terminal device can calculate the penalty coefficient based on the handover frequency ratio using a nonlinear mapping function. Several nonlinear mapping functions can be chosen, each corresponding to a different penalty strategy. For example, an exponential function can be used, causing the penalty coefficient to increase exponentially with the handover frequency ratio. This approach imposes a strong penalty on high-frequency handovers, effectively suppressing excessively frequent handover behavior. A power function can also be used, allowing for flexible control of the penalty's growth rate by adjusting the power. A piecewise function can also be employed, using a gentler penalty curve when the handover frequency ratio is low, and switching to a steeper curve once the ratio exceeds a certain critical point. This ensures normal handover flexibility while strictly limiting abnormally frequent handovers.

[0065] In addition, S-shaped curves such as the sigmoid function or tanh function are also common choices. These functions have saturation characteristics; the penalty coefficient changes gradually at low or high switching frequency ratios, but changes more rapidly in the intermediate region. This characteristic makes the system relatively robust in extreme situations. This embodiment does not specifically limit the choice of nonlinear mapping function; it can be flexibly configured and selected according to different application scenarios, system resource conditions, and tolerance for switching behavior.

[0066] Through the aforementioned nonlinear mapping process, the terminal device ultimately obtains the handover frequency penalty coefficient. This penalty coefficient quantitatively reflects the impact of the current handover frequency on the system. A larger value indicates more frequent handovers and a heavier system burden. In the subsequent handover priority scoring calculation, this penalty coefficient will reduce the score of satellites that frequently handover, thus making the system tend to select satellites that can improve AoI without causing excessive handovers, achieving a dynamic balance between data timeliness and handover stability.

[0067] Furthermore, the step of calculating the handover priority score of each candidate satellite based on the information age improvement amount and the handover frequency penalty coefficient includes: constructing a decision state vector based on the information age improvement amount, the handover frequency penalty coefficient, the link quality parameters of the currently connected satellite, and the link quality parameters of each candidate satellite; inputting the decision state vector into a pre-trained handover decision model, performing a nonlinear transformation on the decision state vector through a multi-layer neural network to obtain a state feature representation; performing dominance branch calculation and value branch calculation on the state feature representation, and fusing the output of the dominance branch and the output of the value branch to obtain the handover action value corresponding to each candidate satellite, and calculating the handover priority score based on the handover action value corresponding to each candidate satellite.

[0068] Specifically, after obtaining the information age improvement and handover frequency penalty coefficient, the terminal device needs to comprehensively consider other relevant factors to make a more comprehensive handover decision. This is because relying solely on the AoI improvement and handover frequency is insufficient to fully characterize the complexity of satellite handover scenarios. In actual satellite communication environments, link quality is also a factor that cannot be ignored. Even if a candidate satellite can provide good data timeliness, if its link quality is poor, actual communication may face problems such as high bit error rate and signal instability, affecting communication reliability. Therefore, this embodiment also incorporates link quality parameters into the handover decision-making considerations.

[0069] Furthermore, the terminal device can construct a decision state vector based on the information age improvement, handover frequency penalty coefficient, link quality parameters of the currently connected satellite, and link quality parameters of each candidate satellite. This state vector is a structured representation of the current handover decision situation, integrating multi-dimensional information into a unified data structure. Each element in the state vector corresponds to a specific decision factor; for example, one element represents the information age improvement, another represents the handover frequency penalty coefficient, and still others represent various link quality indicators of the current and candidate satellites. Through this vectorized representation, complex multi-dimensional decision problems can be transformed into a structured data input.

[0070] It should be noted that traditional handover decision-making methods typically employ weighted summation or heuristic rules, combining various decision factors linearly or relying on experience-based rules. While simple to implement, these methods have significant limitations: weighted summation methods struggle to capture the nonlinear relationships and complex interactions between factors, while heuristic rules heavily depend on human experience and lack adaptability to dynamically changing satellite network environments. Therefore, this embodiment employs a neural network-based handover decision-making model, learning the optimal handover strategy through a data-driven approach.

[0071] Specifically, the terminal device can input the constructed decision state vector into the pre-trained switching decision model. This switching decision model employs a deep neural network structure, which includes an input layer, multiple hidden layers, and an output layer. The input layer receives the decision state vector, and its dimension matches the length of the state vector. The hidden layers are responsible for performing layer-by-layer feature extraction and nonlinear transformation on the input data. The number of hidden layers and the number of neurons in each layer can be configured according to the complexity of the problem; generally, more complex decision problems require deeper network structures. After performing a linear transformation, each hidden layer applies a nonlinear activation function. These activation functions can be ReLU, Leaky ReLU, ELU, tanh, or sigmoid functions, etc. The specific selection can be adjusted based on the training effect; this embodiment does not impose specific limitations on this.

[0072] After the decision state vector undergoes a nonlinear transformation through a multi-layer neural network, a state feature representation is obtained. This state feature representation is equivalent to the high-level semantic features extracted from the original state vector through deep learning, containing a more abstract and essential characterization of the current switching decision situation. Next, the model uses a two-branch structure to further process the state feature representation.

[0073] This two-branch structure includes an advantage value branch and a value branch. The value branch evaluates the value of the current state itself. It transforms the state feature representation through several fully connected layers, ultimately outputting a scalar value. This scalar value represents the expected reward the system can obtain in the current state, regardless of which specific switching action is chosen. The advantage value branch focuses on the relative advantages of choosing different switching actions in the current state. The advantage value branch also processes the state feature representation through several fully connected layers, but its output is a vector. Each element of the vector corresponds to a candidate satellite, representing the magnitude of the advantage of choosing that satellite for switching compared to the average level.

[0074] Understandably, this dual-branch structure allows the model to separately evaluate state value and action advantage. In handover decision scenarios, some states may inherently be advantageous, such as those with a large number of visible satellites and generally good link quality. In such cases, the system can achieve a good result regardless of which satellite is chosen for handover; this value is captured by the value branch. However, when specifically choosing which satellite to handover to, there are relative differences in quality between different satellites; these differences are characterized by the advantage value branch. By separating these two parts, the model can more accurately estimate the true value of each handover action during the learning process.

[0075] Furthermore, the model fuses the outputs of the dominance branch and the value branch to obtain the switching action value for each candidate satellite. This fusion process can be specifically represented as follows: the switching action value of a candidate satellite equals the state value output by the value branch plus the dominance value corresponding to that satellite in the dominance branch, minus the average dominance values ​​of all candidate satellites. This subtraction of the average value decentralizes the dominance values, resulting in better numerical stability of the fused action value. It also ensures that the dominance value truly reflects the advantage relative to the average level, rather than an absolute value.

[0076] Finally, the terminal equipment calculates a handover priority score based on the handover action value corresponding to each candidate satellite. The handover priority score can be directly derived from the handover action value, or the action value can be further normalized or otherwise transformed. A higher score for a candidate satellite indicates that switching to that satellite will bring better overall results, including better data timeliness, more reasonable handover frequency, and more reliable link quality.

[0077] It should be further explained that the aforementioned handover decision-making model needs to acquire effective decision-making capabilities through a training process. During the training phase, a large amount of historical handover data can be collected. This data includes the decision state vectors at different times, the handover actions taken at that time, and the actual performance of the system after the handover. The actual performance of the system can be quantified by a reward signal. This reward signal comprehensively reflects the quality of the handover decision. For example, the reduction in information age can be used as a positive reward, the increase in the number of handovers as a negative penalty, and the improvement in link quality as an additional positive reward. Through this multi-dimensional reward design, the model can be guided to learn a decision-making strategy that balances multiple objectives.

[0078] During training, the model employs either reinforcement learning or supervised learning for parameter optimization. If reinforcement learning is used, the model can continuously interact with the satellite communication environment, experimenting with different switching decisions and adjusting network parameters based on the reward feedback received. Specifically, temporal difference learning can be used, calculating the error between the predicted action value and the actual reward plus the value of the next state, and then updating the network parameters using gradient descent to make the predicted action value increasingly closer to the true long-term reward. If supervised learning is used, the optimal switching action for each historical state needs to be pre-labeled, and the model is then trained to fit these expert decisions. Regardless of the training method used, this embodiment does not impose specific limitations; the goal of the training process is to enable the model to learn the ability to make reasonable switching decisions under various states.

[0079] In this embodiment, availability is determined based on terrestrial network signal quality. When communication requirements are not met, a list of candidate satellites is obtained by matching the capabilities of visible satellites according to service type. The information age of each candidate satellite is calculated to obtain an information age index reflecting data timeliness. Based on the information age index, the satellite with the freshest data is selected to trigger a handover from the terrestrial network to the satellite. In satellite communication mode, the remaining visibility duration is predicted based on orbital parameters. When insufficient visibility duration or link quality is predicted, a re-matching is triggered. The optimal satellite is selected to complete the handover by comprehensively considering the information age improvement and the handover frequency penalty coefficient. This invention effectively ensures the communication service quality of time-sensitive services by introducing information age as a handover decision indicator.

[0080] The multi-mode satellite communication switching method in the embodiments of the present invention has been described above. The multi-mode satellite communication switching device in the embodiments of the present invention is described below. Please refer to [link to relevant documentation] for details on this multi-mode satellite communication switching device. Figure 3 One embodiment of the multi-mode satellite communication switching device in this invention includes: The capability matching module 301 is used to determine the availability of the ground network based on the ground network signal quality detected in real time by the terminal device, and when the availability of the ground network does not meet the communication requirements, it performs satellite communication capability matching on the set of visible satellites according to the preset service type to obtain a list of candidate satellites. The information age calculation module 302 is used to calculate the information age of each satellite in the candidate satellite list to obtain the information age index of each satellite for the preset service type. The initial switching module 303 is used to select the satellite with the youngest information age from the candidate satellite list as the target satellite according to the information age index, and trigger a switching execution command from the ground network to the target satellite; The inter-satellite switching module 304 is used to re-match the set of visible satellites in satellite communication mode according to the link quality and remaining visibility time of the currently connected satellites. When a better satellite is detected or the current satellite is about to lose connection, an inter-satellite switching command is triggered.

[0081] In this embodiment of the invention, the multi-mode satellite communication switching device operates the aforementioned multi-mode satellite communication switching method. The device determines availability based on the quality of the terrestrial network signal. When communication requirements are not met, it performs capability matching of visible satellites according to service type to obtain a list of candidate satellites. It calculates the information age of each candidate satellite to obtain an information age index reflecting data timeliness. Based on the information age index, it selects the satellite with the freshest data to trigger the switch from the terrestrial network to the satellite. In satellite communication mode, it predicts the remaining visibility time based on orbital parameters. When insufficient visibility time or a decline in link quality is predicted, it triggers re-matching. The optimal satellite is selected to complete the switch by comprehensively considering the information age improvement and the switching frequency penalty coefficient. This invention effectively ensures the communication service quality of time-sensitive services by introducing information age as a switching decision indicator.

[0082] above Figure 3 The multi-mode satellite communication switching device in the embodiments of the present invention will be described in detail from the perspective of unitized functional entities. The multi-mode satellite communication switching device in the embodiments of the present invention will be described in detail from the perspective of hardware processing.

[0083] Figure 4 This is a schematic diagram of a multi-mode satellite communication switching device 400 provided in an embodiment of the present invention. The multi-mode satellite communication switching device 400 can vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 410 (e.g., one or more processors) and a memory 420, and one or more storage media 430 (e.g., one or more mass storage devices) storing application programs 433 or data 432. The memory 420 and storage media 430 can be temporary or persistent storage. The program stored in the storage media 430 may include one or more units (not shown in the diagram), each unit may include a series of instruction operations on the multi-mode satellite communication switching device 400. Furthermore, the processor 410 may be configured to communicate with the storage media 430 and execute the series of instruction operations in the storage media 430 on the multi-mode satellite communication switching device 400 to implement the steps of the aforementioned multi-mode satellite communication switching method.

[0084] The multi-mode satellite communication switching device 400 may also include one or more power supplies 440, one or more wired or wireless network interfaces 450, one or more input / output interfaces 460, and / or one or more operating systems 431, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 4The structure of the multi-mode satellite communication switching device shown does not constitute a limitation on the multi-mode satellite communication switching device provided by the present invention. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0085] The present invention also provides a computer-readable storage medium, which can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when the instructions are executed on a computer, cause the computer to perform the steps of the multi-mode satellite communication switching method.

[0086] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system, device, or unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0087] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0088] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-mode satellite communication handover method, characterized in that, The multi-mode satellite communication handover method includes: The availability of the terrestrial network is determined based on the real-time detection of the terrestrial network signal quality by the terminal equipment. When the availability of the terrestrial network does not meet the communication requirements, the satellite communication capabilities of the visible satellite set are matched according to the preset service type to obtain a list of candidate satellites. The information age of each satellite in the candidate satellite list is calculated to obtain the information age index of each satellite for the preset service type; Based on the information age index, select the satellite with the youngest information age from the candidate satellite list as the target satellite, and trigger the handover execution command from the ground network to the target satellite; In satellite communication mode, the set of visible satellites is re-matched based on the link quality and remaining visibility time of the currently connected satellites. When a better satellite is detected or the current satellite is about to lose connection, a satellite handover command is triggered.

2. The multi-mode satellite communication switching method according to claim 1, characterized in that, The process involves determining the availability of the terrestrial network based on the real-time detection of the terrestrial network signal quality by the terminal device, and when the terrestrial network availability does not meet communication requirements, matching the satellite communication capabilities of the visible satellite set according to preset service types to obtain a candidate satellite list, including: The ground network signal quality parameters are extracted to obtain ground network quality parameters including signal strength, network latency, and packet loss rate; The terrestrial network quality parameters are compared with a preset set of network quality thresholds. When any evaluation parameter is lower than the corresponding threshold, it is determined that the terrestrial network availability does not meet the communication requirements. Service requirement parameters are extracted based on preset service types, including bandwidth requirements, latency requirements, and reliability requirements. The matching degree of the communication capability parameters of each satellite in the visible satellite set with the service requirement parameters is calculated, and satellites whose matching degree meets the preset matching threshold are selected to form a candidate satellite list.

3. The multi-mode satellite communication switching method according to claim 1, characterized in that, The step of calculating the information age of each satellite in the candidate satellite list to obtain the information age index of each satellite for the preset service type includes: For each satellite in the candidate satellite list, obtain the timestamp of the most recent successful data update for a preset service type to obtain the service data update time for each satellite. Based on the current system time and the update time of the service data corresponding to each satellite, the time difference is calculated to obtain the initial information age value of each satellite for the preset service type. The initial information age values ​​corresponding to each satellite are cumulatively corrected based on the predicted transmission delay of each satellite to obtain the information age index of each satellite including transmission delay compensation.

4. The multi-mode satellite communication handover method according to any one of claims 1-3, characterized in that, In satellite communication mode, the process of re-matching the set of visible satellites based on the link quality of the currently connected satellites and the remaining visibility time includes: In satellite communication mode, the satellite position is calculated in real time based on the orbital parameters of the currently connected satellite, and the elevation angle parameter of the currently connected satellite is calculated based on the relative geometric relationship between the satellite position and the terminal device position. Visibility is determined based on the elevation angle parameter and the preset minimum elevation angle threshold. When the elevation angle parameter is lower than the minimum elevation angle threshold, the remaining visibility time of the currently connected satellite is predicted. When the predicted visible duration is lower than a preset duration threshold or the link quality parameter of the currently connected satellite is lower than a preset quality threshold, the set of visible satellites is re-matched.

5. The multi-mode satellite communication switching method according to claim 4, characterized in that, The rematching of the visible satellite set includes: The information age of each candidate satellite in the visible satellite set is calculated, and the difference between the information age index of each candidate satellite and the information age index of the currently connected satellite is calculated to obtain the information age improvement amount of each candidate satellite. Obtain the historical satellite switching count within a preset time window, and calculate the switching frequency penalty coefficient based on the historical satellite switching count; The handover priority score of each candidate satellite is calculated based on the information age improvement amount and the handover frequency penalty coefficient. The candidate satellite with the highest handover priority score is selected as the next target satellite, and the inter-satellite handover command to the next target satellite is triggered.

6. The multi-mode satellite communication switching method according to claim 5, characterized in that, The step of obtaining the historical satellite switching count within a preset time window and calculating the switching frequency penalty coefficient based on the historical satellite switching count includes: The number of historical satellite handover events occurring within the preset time window is counted. The switching frequency ratio is obtained by calculating the ratio of the historical satellite switching count to a preset switching count benchmark value. The switching frequency penalty coefficient is obtained by calculating the penalty coefficient through a nonlinear mapping function based on the switching frequency ratio.

7. The multi-mode satellite communication switching method according to claim 5, characterized in that, The calculation of the handover priority score for each candidate satellite based on the information age improvement amount and the handover frequency penalty coefficient includes: A decision state vector is constructed based on the information age improvement amount, the switching frequency penalty coefficient, the link quality parameters of the currently connected satellite, and the link quality parameters of each candidate satellite. The decision state vector is input into a pre-trained switching decision model, and a nonlinear transformation is performed on the decision state vector through a multi-layer neural network to obtain a state feature representation. The state feature representation is subjected to dominance value branch calculation and value branch calculation, and the output of the dominance value branch and the output of the value branch are fused to obtain the handover action value corresponding to each candidate satellite, and the handover priority score is calculated based on the handover action value corresponding to each candidate satellite.

8. A multi-mode satellite communication switching device, characterized in that, The multi-mode satellite communication switching device includes: The capability matching module is used to determine the availability of the ground network based on the real-time detection of the ground network signal quality by the terminal device, and when the availability of the ground network does not meet the communication requirements, it performs satellite communication capability matching on the set of visible satellites according to the preset service type to obtain a list of candidate satellites; The information age calculation module is used to calculate the information age of each satellite in the candidate satellite list to obtain the information age index of each satellite for the preset service type. The initial switching module is used to select the satellite with the youngest information age from the candidate satellite list as the target satellite according to the information age index, and trigger the switching execution command from the ground network to the target satellite; The inter-satellite handover module is used to re-match the set of visible satellites in satellite communication mode based on the link quality and remaining visibility time of the currently connected satellites. When a better satellite is detected or the current satellite is about to lose connection, an inter-satellite handover command is triggered.

9. A multi-mode satellite communication switching device, characterized in that, The multi-mode satellite communication switching device includes: a memory and at least one processor, wherein the memory stores instructions; The at least one processor invokes the instructions in the memory to cause the multi-mode satellite communication switching device to perform the steps of the multi-mode satellite communication switching method as described in any one of claims 1-7.

10. A computer-readable storage medium storing instructions thereon, characterized in that, When the instruction is executed by the processor, it implements the steps of the multi-mode satellite communication switching method as described in any one of claims 1-7.

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