Navigation constellation time division multiplexing network time slot planning method and system
By constructing a time slot planning method for navigation constellations of IGSO, GEO, and MEO satellites, and utilizing a two-dimensional string matrix and the principle of visibility probability balance, the problem of insufficient utilization of satellite-to-ground link resources and the risk of complete link failure in existing technologies is solved, and stable time slot table generation and efficient resource utilization are achieved in multiple scenarios.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHANGHAI SATELLITE ENG INST
- Filing Date
- 2026-03-10
- Publication Date
- 2026-06-26
AI Technical Summary
Existing technologies lack a unified time slot planning mechanism that integrates space and ground and adapts to multiple scenarios. They fail to include ground stations as key nodes in the time slot table for unified deployment and scheduling, resulting in insufficient utilization of space-ground link resources. Furthermore, they do not explicitly characterize the probability of domestic-overseas links for time slot planning, leading to uncontrolled risks of complete link failure. They also lack cross-orbit fusion capabilities and sufficient coordination between IGSO and GEO satellites, making it difficult to maintain continuously available inter-satellite links when MEO is restricted.
A navigation constellation consisting of IGSO, GEO, and MEO satellites is constructed. The time slot table is represented by a two-dimensional string matrix. Link time slots are allocated based on the principle of visibility probability balance. Time slot planning is carried out using principles such as uniqueness in the same column, mutual reference in the same column, and priority of smaller PDOP values. Ground station nodes are incorporated to ensure the stability, availability, and performance consistency of the time slot table under different navigation scenarios.
It improves link availability, geometric stability, and the smoothness of network operation, reduces the risk of complete link failure, enhances measurement accuracy and communication optimization capabilities, and meets the time slot table generation requirements in multiple scenarios.
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Abstract
Description
Technical Field
[0001] This invention relates to the field of inter-satellite communication technology, and more specifically, to a time slot planning method and system for time-division multiplexing networks of navigation constellations. Background Technology
[0002] As global satellite constellations rapidly develop towards large-scale, multi-orbit, and multi-functional integration, traditional time-slot planning methods are no longer sufficient to meet the urgent needs of new space networks for efficiency, flexibility, and multi-functional integration.
[0003] Patent document CN110336603B (application number: 201910544671.7) discloses a dynamic link time slot allocation method suitable for inter-satellite networks. It constructs a low-Earth orbit small satellite constellation composed of primary and secondary satellites and proposes an allocation mechanism based on dynamic link time slot ratio adjustment. After initializing the total number of time slots, the system calculates system throughput and average latency in real time through CSMA / CA access mechanism coupled with time slot ratio, and iteratively optimizes the time slot allocation ratio in a step-by-step manner. Its core technologies include: connecting to the constellation management interface and defining DTI periodic access rules; configuring CSMA / CA time slot ratio thresholds and dynamically allocating time slot resources; and driving the time slot ratio to converge to the optimal value through throughput-latency joint optimization. This method achieves data interaction through the onboard communication bus, significantly improving inter-satellite channel utilization and achieving a balance between high throughput and low latency.
[0004] Patent document CN112583468B (application number: 202011289665.0) discloses a three-dimensional joint allocation method for uplink time slots, bandwidth, and power of multi-beam satellites based on MF-TDMA. For multi-beam satellite uplinks, this patent proposes a three-dimensional joint optimization model of time slots, bandwidth, and power. It improves spectral efficiency through three-color frequency reuse and establishes fairness constraints aimed at minimizing the variance between demand and supply. Its technical architecture includes: integrating time slots, bandwidth, and power as decision variables to construct a resource allocation model; dynamically adjusting resource allocation ratios based on channel conditions and inter-user interference; and constraining the deviation between resource allocation and actual user needs to avoid resource waste. This method overcomes the limitations of traditional one-dimensional allocation through joint optimization, achieving a synergistic improvement in resource utilization and user fairness.
[0005] The existing literature, "Time Slot Allocation Algorithm and Routing Planning Optimization for Satellite Networks" (Systems Engineering and Electronics, Vol. 44, No. 4, pp. 1343-1353), models inter-satellite time slot allocation and routing planning as an integer linear programming problem, and decomposes this problem into time slot allocation subproblems and routing planning subproblems, which are solved separately. Its core contributions include: a decomposition framework for inter-satellite time slot allocation and routing planning; a low-complexity time slot allocation algorithm; and a service priority routing mechanism that generates low-cost routing strategies based on service levels. Simulations show that this method effectively balances computational complexity and planning quality in large-scale, highly dynamic constellations.
[0006] Existing literature, "Research on Multi-Priority Inter-Satellite Link Time Slot Planning Method Based on Navigation Systems" (Proceedings of the 11th China Satellite Navigation Conference – S13 Autonomous Navigation, pp. 29-33), addresses the autonomous navigation and precise orbit determination requirements of navigation constellations. This paper proposes a multi-priority hierarchical time slot planning strategy. By classifying satellites into categories such as domestic and foreign satellites, and setting differentiated priorities, the single-layer planning is transformed into a two-layer optimization problem. Its technical modules include: classifying constellation satellites into three categories according to function and constraints; assigning time slot selection weights to each category of satellites; and coordinating time slot occupancy conflicts between satellites of different priorities. This method significantly improves the efficiency and scalability of time slot planning for navigation constellations in scenarios where node satellites are constrained.
[0007] The existing literature, "Design and Simulation Evaluation of Inter-Satellite Link Time Slot Allocation Based on TDMA" (Computer Measurement & Control, Vol. 22, No. 12, pp. 4087-4090), proposes a fixed time slot allocation scheme for a two-layer hybrid constellation and evaluates latency performance based on broadcast and unicast services. Its design features include: differentiated service scheduling: designing independent time slot allocation logic for broadcast and unicast services; topology-driven time slot mapping: pre-allocating time slot resources based on inter-satellite visibility; and an elevation angle constraint sensing mechanism: analyzing the impact of ground station elevation angle on the reachability of outlying satellites. Simulations show that this scheme supports network-wide broadcasting within 30 seconds, and over 95% of outlying satellites can reach the ground station directly via a single hop.
[0008] The aforementioned patents and documents have advanced the development of inter-satellite link slot planning technology from the perspectives of dynamic ratio adjustment, multi-dimensional resource joint allocation, planning-routing collaborative decomposition, multi-priority hierarchical strategy, and fixed allocation and service adaptation, providing diversified solutions for resource management of highly dynamic constellations. However, the following technical problems still exist: 1. Lack of a unified time slot planning mechanism that integrates space and ground and adapts to multiple scenarios: Ground stations were not included as key nodes in the time slot table for unified deployment and scheduling, resulting in insufficient utilization of space-ground link resources; Time slot tables could not be generated according to the differentiated requirements of measurement and communication functions for different application scenarios (such as fully autonomous navigation scenarios and non-fully autonomous navigation scenarios), making it difficult for the same solution to maintain high efficiency and robustness in multiple scenarios; 2. Failure to explicitly characterize the probability of domestic-overseas links and use it for time slot planning: Existing solutions mainly focus on the joint optimization of throughput and latency or spectrum power, ignoring the guarantee of the availability of domestic-overseas inter-satellite links. Not only is the risk of complete link failure uncontrolled, but it may also cause forwarding traffic to accumulate in a few domestic-overseas inter-satellite link time slots, resulting in queuing peaks. 3. Insufficient cross-orbit fusion capability (insufficient coordination among MEO, IGSO and GEO satellites): Most methods are designed for single-orbit or specific link scenarios, lacking a dual-role coordination mechanism that incorporates IGSO and GEO satellites into a "both observable and observable" system, making it difficult to maintain a continuously available inter-satellite link when MEO is restricted.
[0009] Therefore, a technical solution is needed to improve the above-mentioned technical problems. Summary of the Invention
[0010] To address the shortcomings of existing technologies, the purpose of this invention is to provide a time slot planning method and system for navigation constellation time division multiplexing networks.
[0011] A time slot planning method for a navigation constellation time division multiplexing network according to the present invention includes: Step S1: Construct a configuration of of One IGSO satellite, GEO satellites and configuration as of A navigation constellation consisting of MEO satellites, of which This represents the total number of satellites in the Walker configuration constellation. This represents the number of MEO orbital planes. The phase difference between two adjacent MEO orbitals; according to the... The constellation time slot table, composed of several time slots, establishes links for communication periodically; wherein, the constellation time slot table includes: MEO star dynamic and static link time slot table, IGSO star dynamic link time slot table, and GEO star dynamic link time slot table; Step S2: Based on By analyzing the visibility relationships between any MEO satellite and other MEO satellites based on the symmetry of the configuration, the number of static links of the MEO satellites can be obtained. and MEO dynamic link count ; Step S3: Based on MEO static link count and MEO dynamic link count The constellation time slot table is formally represented as a two-dimensional string matrix. ;in, The total number of columns is the number of time slots. The total number of rows is the number of satellites. ; Step S4: Initialize the empty time slot table so that all elements are 0. Based on the MEO static link initialization empty time slot table, the MEO static link time slot table is obtained. ; Step S5: Initialize the space slot table based on MEO dynamic links The MEO dynamic link time slot table in the table yields the following results. ; Step S6: Set to zero The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; Step S7: Based on Perform time slot planning for fully autonomous navigation scenarios; Step S8: Based on Time slot planning is carried out for non-fully autonomous navigation scenarios.
[0012] Preferably, step S1 includes: exist middle, The number of satellites on each orbital plane is ; Each row in the constellation time slot table corresponds to an observed star number, and each column corresponds to a time slot sequence number; The satellite number is: For the first The first on the orbital plane The serial numbers of the MEO satellites; For the first The serial numbers of the GEO satellites; For the first The serial numbers of the IGSO satellites; The time slot number is ,in, and These represent the number of static links and the number of dynamic links that any MEO satellite in the constellation can establish, respectively. This represents the total number of time slots in a single time slot table. This represents the minimum number of dynamic and static links that any MEO satellite in the constellation can establish at the same time. In the time slot table, the MEO static link time slot table is from number 1 to number 2. The rows correspond to the rows respectively. to , to … to , No. Time slot to the Time slot, and the first Time slot to the Time slot, This is the floor function operator; The MEO dynamic link time slot table is from number 1 to number 2. Okay, number Time slot to the Time slot, and the first Time slot to the Time slot; The GEO dynamic link time slot table is for the [number]. To the The rows correspond to G1 to G2 respectively. , from the 1st to the Time slot; The IGSO dynamic link time slot table is the first one. To the The rows correspond to IG1 to IG2 respectively. , from the 1st to the Time slot.
[0013] Preferably, the two-dimensional string matrix in step S3 includes:
[0014] in, For the first Okay, number Column elements, where each element is a satellite, ground station number, or space slot to be filled; This indicates that the matrix has OK, List.
[0015] Preferably, step S4 includes: establishing a visibility probability model for MEO satellite inter-satellite links within and outside the country, and allocating static link time slots for each MEO observation satellite according to the principle of visibility probability balance, including: Constructing a space slot table ;
[0016] Construct a visibility probability model for MEO satellite inter-satellite links within and outside China; For a single or multiple ground stations, a domestic satellite is defined as a satellite that is visible to at least one ground station within a certain time range, and an overseas satellite is defined as a satellite that is not visible to any ground station within a certain time range.
[0017]
[0018] in, For time range; The conditional probability that the observed star and the observed star are within or outside the territory is:
[0019] Based on the periodic revisit characteristics of constellation orbits, the continuous conditional probability is approximated as the statistical probability of discrete-time sampling points within the constellation revisit period:
[0020] in, A set representing discrete-time sampling results; For multiple observed stars Observing stars The probabilities of establishing domestic-overseas inter-satellite links are respectively ; The static link time slots allocated to MEO observation satellites one by one according to the visibility probability balance principle include: The first constellation MEO observation stars of A set of continuously visible satellites numbered together The corresponding probability relationship of domestic-overseas inter-satellite links is as follows:
[0021] like For odd numbers, the filling order of the MEO static link time slot table is as follows:
[0022] in, This is the floor function operator; like If the number is even, the filling order of the MEO static link time slot table is as follows:
[0023] Fill the current time slot table sequentially according to the obtained filling order. In the two-dimensional matrix, the first Line static link time slot, let Repeatedly trigger the execution until all MEO static link slot tables are filled.
[0024] Preferably, step S5 includes: The first constellation MEO observation stars of A set of intermittently visible satellite numbers The corresponding probability relationship of domestic-overseas inter-satellite links is as follows:
[0025] like For odd numbers, the filling order of the MEO static link time slot table is as follows:
[0026] in, This is the floor function operator; like If the number is even, the filling order of the MEO static link time slot table is as follows:
[0027] Fill the current time slot table sequentially according to the obtained filling order. In the two-dimensional matrix, the first Dynamic link time slots, making Repeatedly trigger the execution until all MEO dynamic link slot tables are filled.
[0028] Preferably, step S7 includes: Step S7.1: Fill according to the principles of uniqueness within the same column, mutual reference within the same column, priority of smaller PDOP values, and non-repeating observed star numbers in the same row. Furthermore, after each filling, the number of space slots for each observed star is recounted, and the slots are filled sequentially in descending order of number of space slots and from earliest to latest. The MEO dynamic link time slot table is filled with visible GEO and IGSO satellite numbers to obtain the following information: The subscript in the middle This represents the time slot table in fully autonomous navigation mode. Step S7.3: Following the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, and rolling fill, The time slot tables for dynamic links between GEO and IGSO are filled with the available IGSO-IGSO and IGSO-GEO inter-satellite links to obtain... ; Step S7.4: Following the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, In the MEO dynamic link slot table, empty slots are repeatedly filled into the link to obtain... ; Step S7.5: If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S3 to S7 until the total number of time slots is [number missing]. Output all time slot tables in tabular form; among them, It is a finite positive integer greater than 1.
[0029] Preferably, step S8 includes: Step S8.1: Set to zero The MEO dynamic link time slot table is used to obtain the time slots for overseas satellite-to-overseas and domestic satellite-to-domestic links. The subscript in the middle This represents the time slot table in non-fully autonomous navigation mode; Step S8.2: Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, uniqueness within the same row, and priority given to smaller PDOP values, The MEO dynamic link time slot table is populated with GEO and IGSO satellite numbers, and the corresponding MEO satellite numbers are entered into the corresponding time slots of the GEO and IGSO dynamic link time slot tables to obtain the following results. ; Step S8.3: Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, and priority given to smaller PDOP values, The time slot table for dynamic links between GEO and IGSO allows for the establishment of IGSO-IGSO and IGSO-GEO inter-satellite links by filling empty time slots. ; Step S8.4: Following the principle of scrolling fill and prioritizing smaller PDOP values, The time slot table for dynamic links within China (MEO, GEO, IGSO) is filled with ground station numbers to obtain the empty time slots. ; Step S8.5: Following the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, The MEO dynamic link time slot table is filled with empty time slots sequentially to establish domestic satellite-to-foreign satellite, domestic satellite-to-domestic, and foreign satellite-to-foreign satellite links, resulting in... ; Step S8.6: According to the principle of prioritizing smaller PDOP values, The empty time slots in the MEO, GEO, and IGSO dynamic link time slot tables are filled with ground station numbers to obtain... ; Step S8.7: If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S2 to S5 and steps S8.1 to S8.7 until the total number of time slots is [number missing]. Output all time slot tables in tabular form.
[0030] Preferably, the principles of uniqueness within the same column, mutual reference within the same column, and priority of smaller PDOP values include: For characterizing the current time slot table For a two-dimensional matrix, the principle of uniqueness within the same column means that the observed stars in the same column are not numbered repeatedly. The mathematical expression is as follows:
[0031] The principle of mutual reference within the same column means that for a satellite that can be both observed and monitored, when it is written into the time slot of an observation satellite as an observed satellite, the number of that observation satellite must be written synchronously in the same time slot in which it is monitored. The mathematical expression is as follows: , No. The observed star corresponding to the row is , or ,like For the filled , , or Correspondingly, for , , or ; The PDOP value minimization principle is a filling method based on the PDOP value minimization algorithm, wherein the PDOP value minimization algorithm is selected from at least one of the group consisting of genetic algorithm, particle swarm optimization, simulated annealing, tabu search, differential evolution and multi-objective evolutionary algorithm.
[0032] Preferably, the peer uniqueness principle includes: For characterizing the current time slot table Two-dimensional matrix: .
[0033] A time slot planning system for a navigation constellation time division multiplexing network according to the present invention includes: Module M1: Constructs a module with the following configuration of One IGSO satellite, GEO satellites and configuration as of A navigation constellation consisting of MEO satellites, of which This represents the total number of satellites in the Walker configuration constellation. This represents the number of MEO orbital planes. The phase difference between two adjacent MEO orbitals; according to the... The constellation time slot table, composed of several time slots, establishes links for communication periodically; wherein, the constellation time slot table includes: MEO star dynamic and static link time slot table, IGSO star dynamic link time slot table, and GEO star dynamic link time slot table; Module M2: Based on By analyzing the visibility relationships between any MEO satellite and other MEO satellites based on the symmetry of the configuration, the number of static links of the MEO satellites can be obtained. and MEO dynamic link count ; Module M3: Based on MEO static link count and MEO dynamic link count The constellation time slot table is formally represented as a two-dimensional string matrix. ;in, The total number of columns is the number of time slots. The total number of rows is the number of satellites. ; Module M4: Initializes the empty time slot table to have all elements as 0. Based on the MEO static link initialization empty time slot table, the MEO static link time slot table is obtained. ; Module M5: Initializes the space slot table based on MEO dynamic link The MEO dynamic link time slot table in the table yields the following results. ; Module M6: Zero The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; Module M7: Based on Perform time slot planning for fully autonomous navigation scenarios; Module M8: Based on Time slot planning is carried out for non-fully autonomous navigation scenarios.
[0034] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention represents the time slot table as a two-dimensional string matrix, with the total number of rows equal to the total number of MEO, GEO, and IGSO satellites in the constellation. It flattens the complex time-resource allocation problem into a standard two-dimensional data object, making method testing and simulation convenient. Furthermore, it incorporates IGSO and GEO satellites into a dual-role collaborative mechanism that allows them to be both observable and observable. In fully autonomous navigation scenarios, when the visibility of MEO satellites decreases due to obstruction, maintenance, inter-satellite link interruption, or attitude limitations, IGSO or GEO satellites can still serve as observation satellites, ensuring the batch downlink and uplink of data. With the measurement requirements already met, the goal is to optimize communication. Through a few ground stations within the country, remote control, telemetry monitoring, navigation data uploading, and measurement data aggregation of the global constellation are possible. 2. This invention allocates static and dynamic link time slots to MEO observation satellites one by one according to the principle of visibility probability balance. This ensures a higher probability of having at least one usable domestic-international inter-satellite link at any given time, reducing the risk of complete link outages. It also avoids concentrating services on a few high-probability time slots, reducing queuing peaks and end-to-end latency jitter, resulting in more even link utilization. Without increasing complexity, it improves link availability, geometric stability, and the smoothness of overall network operation. 3. The principles of uniqueness in the same column, mutual reference in the same column, uniqueness in the same row, rolling filling, and priority of small PDOP value in this invention can be enabled or adjusted according to actual business needs, thereby ensuring that the time slot planning maintains the stability, availability and performance consistency of the time slot table in measurement priority, communication priority and mixed load scenarios, and improves the ability to resist business fluctuations. 4. In this invention, ground stations are included as nodes in the time slot table for time slot planning in non-fully autonomous navigation scenarios. The ground station positions are fixed and highly accurate. Including measurement can reduce the uncertainty of the solution and improve the measurement accuracy. The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.
[0035] The technical problem to be solved by the present invention is to provide a time slot planning method and system for navigation constellation time division multiplexing networks, which addresses the shortcomings of the prior art and is used to generate time slot tables that meet the requirements of measurement as the main function and communication function in different navigation scenarios. Attached Figure Description
[0036] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 Flowchart of time slot planning method for navigation constellation time-division multiplexing network.
[0037] Figure 2 Time slot table generated for fully autonomous navigation scenarios .
[0038] Figure 3 Time slot table generated for non-fully autonomous navigation scenarios .
[0039] Figure 4 The intention is to represent the time slots of the constellations. Detailed Implementation
[0040] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.
[0041] Example 1 According to the present invention, a navigation constellation time division multiplexing network time slot planning method and system is provided, which sets a navigation constellation time slot table composed of MEO dynamic and static link time slot tables, IGSO dynamic link time slot tables, and GEO dynamic link time slot tables, and the total number of selected time slots for a single time slot table; after initializing the time slot table, according to the prescribed principles of uniqueness in the same column, mutual reference in the same column, rolling filling, uniqueness in the same row, and priority of small PDOP value, a time slot table is generated through a unified process for two typical scenarios: fully autonomous navigation supported only by inter-satellite links and non-fully autonomous navigation supported by inter-satellite and satellite-to-ground links. The table is adapted to primarily measure and also takes into account communication functions.
[0042] The navigation constellation time-division multiplexing network time slot planning method, such as Figure 1 As shown, it includes: Construct a configuration of of One IGSO satellite, GEO satellites and configuration as of A navigation constellation consisting of MEO satellites, of which This represents the total number of satellites in the Walker configuration constellation. This represents the number of MEO orbital planes. The phase difference between two adjacent MEO orbitals; according to the... The constellation time slot table, composed of several time slots, establishes links for communication periodically; wherein, the constellation time slot table includes: MEO star dynamic and static link time slot table, IGSO star dynamic link time slot table, and GEO star dynamic link time slot table; Step S1, based on By analyzing the visibility relationships between any MEO satellite and other MEO satellites based on the symmetry of the configuration, the total number of other MEO satellites that are continuously visible to that MEO satellite at any given time can be obtained. (Number of static links), and the total number of other MEO satellites visible to this MEO satellite only for part of the time. (Dynamic link count); Step S2: Represent the time slot table as an empty two-dimensional string matrix. The total number of columns in the matrix is equal to the number of time slots. The total number of rows is the number of satellites. ; Step S3: Set the time slot table generation time. Initialize the empty time slot table The MEO static link time slot table in the table is obtained. Establish a visibility probability model for MEO satellite inter-satellite links between domestic and international locations, and allocate static link time slots for each MEO observation satellite according to the principle of balanced visibility probability. S4, Initialization The MEO dynamic link time slot table in the table is obtained by allocating dynamic link time slots to MEO observation satellites one by one according to the visibility probability balance principle. ; S5, Set to zero The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; S6. Time slot planning for fully autonomous navigation scenarios: S601. Following the principles of uniqueness in the same column, mutual reference in the same column, priority of smaller PDOP values, and non-repeating observation star numbers in the same row (uniqueness in the same row), and after each filling, recounting the number of space slots for each observation star, and filling them in order from most to least space slots and from earliest to latest slots (rolling filling principle). The MEO dynamic link time slot table is filled with visible GEO and IGSO satellite numbers to obtain the following information: ; the subscript in the middle This represents the time slot table in fully autonomous navigation mode. S602. Follow the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, and rolling fill. The time slot tables for dynamic links between GEO and IGSO are filled with the available IGSO-IGSO and IGSO-GEO inter-satellite links to obtain... ; S603. According to the principles of uniqueness in the same column, mutual reference in the same column, and priority of smaller PDOP value. In the MEO dynamic link slot table, empty slots are repeatedly filled into the link to obtain... ; S604. If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S2 to S604 until the total number of time slots is [number missing]. Output all time slot tables in tabular form; S7. Time slot planning for non-fully autonomous navigation scenarios: S701, Zeroing The MEO dynamic link time slot table is used to obtain the time slots for overseas satellite-to-overseas and domestic satellite-to-domestic links. The subscript in the middle This represents the time slot table in non-fully autonomous navigation mode; S702. Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, uniqueness within the same row, and priority given to smaller PDOP values. The MEO dynamic link time slot table is populated with GEO and IGSO satellite numbers, and the corresponding MEO satellite numbers are entered into the corresponding time slots of the GEO and IGSO dynamic link time slot tables to obtain the following results. ; S703. Following the principles of uniqueness within the same column, mutual reference within the same column, scrolling fill, and priority given to smaller PDOP values. The time slot table for dynamic links between GEO and IGSO allows for the establishment of IGSO-IGSO and IGSO-GEO inter-satellite links by filling empty time slots. ; S704. Following the principle of rolling fill and prioritizing smaller PDOP values. The time slot table for dynamic links within China (MEO, GEO, IGSO) is filled with ground station numbers to obtain the empty time slots. ; S705. According to the principles of uniqueness in the same column, mutual reference in the same column, and priority of smaller PDOP value. The MEO dynamic link time slot table is filled with empty time slots sequentially to establish domestic satellite-to-foreign satellite, domestic satellite-to-domestic, and foreign satellite-to-foreign satellite links, resulting in... ; S706. According to the principle of prioritizing smaller PDOP values. The empty time slots in the MEO, GEO, and IGSO dynamic link time slot tables are filled with ground station numbers to obtain... ; S707. If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S2 to S5 and steps S701 to S707 until the total number of time slots is [number missing]. Output all time slot tables in tabular form.
[0043] The navigation constellation is specifically as follows: middle The total number of satellites in this invention ; The number of orbital surfaces; The phase parameter is ; the number of satellites per orbital plane is . .
[0044] The constellation time slot table is as follows: like Figure 4 As shown, each row in the table corresponds to an observed satellite number, and each column corresponds to a time slot number. The satellite numbers are: : for the first The first on the orbital plane The designation of each MEO satellite, for example , , ...; : for the first The number of each GEO satellite, for example , , ...; : for the first The designations of the IGSO satellites, for example , , ...; The time slot number is ,in, and These represent the number of static links and the number of dynamic links that any MEO satellite in the constellation can establish, respectively. This represents the total number of time slots in a single time slot table. This represents the minimum number of dynamic and static links that any MEO satellite in the constellation can establish at the same time.
[0045] In the time slot table, the MEO static link time slot table is from number 1 to number 2. Rows (corresponding to) to , to , to ), No. Time slot to the Time slot, and the first Time slot to the Time slot, This is the floor function operator; The MEO dynamic link time slot table is from number 1 to number 2. Okay, number Time slot to the Time slot, and the first Time slot to the Time slot; The GEO dynamic link time slot table is for the [number]. To the Rows (corresponding to G1 to G2 respectively) ), from the 1st to the Time slot; The IGSO dynamic link time slot table is the first one. To the Rows (corresponding to IG1 to ), from the 1st to the Time slot.
[0046] Specifically, in step S2, the time slot table is represented as a two-dimensional string matrix, with a total number of columns of . The total number of rows is The details are as follows: Characterizing a time slot table The two-dimensional string matrix is:
[0047] In the formula: For the first Okay, number Column elements, where each element is a satellite, ground station number, or space slot to be filled. ); This indicates that the matrix has OK, List.
[0048] Specifically, in step S3, the space time slot table for:
[0049] The probability model for MEO satellite domestic-overseas inter-satellite links is as follows: For a single or multiple ground stations, a satellite within the territory is defined as a satellite visible to at least one ground station within a certain time range, and a satellite outside the territory is defined as a satellite invisible to all ground stations within a certain time range. The following two events apply:
[0050]
[0051] In the formula, The time range is defined as follows; the conditional probability that the observed star and the observed star are within or outside the territory is:
[0052] Based on the periodic revisit characteristics of constellation orbits, the continuous conditional probability can be approximated as the statistical probability of discrete-time sampling points within the constellation revisit period:
[0053] in This represents the set of discrete-time sampling results.
[0054] For multiple observed stars Observing stars The probabilities of establishing domestic-overseas inter-satellite links are respectively .
[0055] The static link time slots of MEO observation satellites are allocated one by one according to the principle of visibility probability balance. The specific steps are as follows: S301, the constellation... MEO observation stars of A set of continuously visible satellites numbered together The corresponding probability relationship of domestic-overseas inter-satellite links is as follows:
[0056] like For odd numbers, the filling order of the MEO static link time slot table is as follows:
[0057] In the formula: This is the floor operator.
[0058] like If the number is even, the filling order of the MEO static link time slot table is as follows:
[0059] S302. Fill the current time slot table sequentially according to the filling order obtained in step S301. In the two-dimensional matrix, the first Line static link time slot, let Repeat steps S301 and S302 until all MEO static link time slot tables are filled.
[0060] Specifically, step S4 is as follows: S401, the constellation... MEO observation stars of A set of intermittently visible satellite numbers The corresponding probability relationship of domestic-overseas inter-satellite links is as follows:
[0061] like For odd numbers, the filling order of the MEO static link time slot table is as follows:
[0062] In the formula: This is the floor operator.
[0063] like If the number is even, the filling order of the MEO static link time slot table is as follows:
[0064] S402. Fill the current time slot table sequentially according to the filling order obtained in step S401. In the two-dimensional matrix, the first Dynamic link time slots, making Repeat steps S301 and S302 until all MEO dynamic link time slot tables are filled.
[0065] In steps S4, S601 to S603, S702, S703, S705, and S706, the principles of uniqueness and mutual reference within the same column are as follows: For characterizing the current time slot table For a two-dimensional matrix, the principle of uniqueness within the same column means that the observed stars in the same column are not numbered repeatedly. The mathematical expression is as follows:
[0066] The principle of mutual reference within the same column means that for a satellite that can be both observed and monitored, when it is written into the time slot of an observation satellite as an observed satellite, the number of that observation satellite must be written synchronously in the same time slot in which it is monitored. The mathematical expression is as follows: , No. The observed star corresponding to the row is , or ,like For the filled , , or (As the observation star time corresponds to the first) (line), correspondingly, for , , or .
[0067] In steps S601 and S702, the principle of uniqueness in the same row is as follows: For characterizing the current time slot table A two-dimensional matrix,
[0068] In steps S601 to S603 and S702 to S706, the principle of prioritizing smaller PDOP values is as follows: The PDOP value minimization principle is a filling method based on the PDOP value minimization algorithm, wherein the PDOP value minimization algorithm is selected from at least one of the group consisting of genetic algorithm, particle swarm optimization, simulated annealing, tabu search, differential evolution and multi-objective evolutionary algorithm.
[0069] The navigation constellation time-division multiplexing network time slot planning system includes: Initialization module: Sets the total number of time slots in a single time slot table and initializes the empty time slot table. Represented as a two-dimensional empty string matrix, filled according to the probability balance principle. The MEO static link time slot table and MEO dynamic link time slot table are obtained from the data. ; Preprocessing module: Zeroing The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; The fully autonomous navigation time slot planning module: First, following the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, uniqueness within the same row, and rolling fill, in... The MEO dynamic link time slots are filled with visible GEO and IGSO satellite numbers to obtain... Then, following the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, and rolling fill, in... The time slot tables for dynamic links between GEO and IGSO are filled with the available IGSO-IGSO and IGSO-GEO inter-satellite links, resulting in... Next, following the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, in... The MEO dynamic link time slot table is filled with empty time slots for domestic satellite-to-overseas, domestic satellite-to-overseas, and domestic satellite-to-domestic links to obtain... ; Non-fully autonomous navigation time slot planning module: Zeroing The MEO dynamic link time slot table is used to obtain the link time slots for overseas satellite-to-overseas or domestic satellite-to-domestic satellite links. Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, uniqueness within the same row, and priority given to smaller PDOP values, The MEO dynamic link time slot table is filled with GEO and IGSO satellite numbers to obtain... Following the principles of uniqueness within the same column, mutual reference within the same column, scrolling fill, and priority given to smaller PDOP values, The time slot table for dynamic links between GEO and IGSO allows for the establishment of IGSO-IGSO and IGSO-GEO inter-satellite links by filling empty time slots. Following the principles of scrolling fill and prioritizing smaller PDOP values, The time slot table for dynamic links within China (MEO, GEO, IGSO) is filled with ground station numbers to obtain the empty time slots. According to the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, The MEO dynamic link time slot table is filled with empty time slots sequentially to establish domestic satellite-to-foreign satellite, domestic satellite-to-domestic, and foreign satellite-to-foreign satellite links, resulting in... According to the principle of prioritizing smaller PDOP values, The MEO dynamic link time slot table is filled with ground station numbers to obtain the empty time slots. .
[0070] Output module: Determines if the number of time slot tables meets the requirements; if not, saves the result. (Fully autonomous navigation scenario) or (Semi-autonomous navigation scenario) Continue generating time slot tables; if so, output all generated time slot tables in tabular form.
[0071] Example 2 Example 2 is a preferred example of Example 1. like Figure 1 As shown, according to the time slot planning method for a navigation constellation time division multiplexing network provided by the present invention, for the BeiDou constellation model with simulation parameters as shown in Table 1, its configuration is as follows: The constellation consists of 24 MEO satellites, 3 IGSO satellites, and 3 GEO satellites, as shown in the table below: Table 1
[0072] Time slot planning includes the following steps: S1. Analyze the visibility relationship between any MEO satellite and other MEO satellites to obtain: the total number of other MEO satellites that are continuously visible to the MEO satellite at any time is 8 (static link number), and the total number of other MEO satellites that are only visible to the MEO satellite for part of the time is 12 (dynamic link number).
[0073] S2. Represent the time slot table as a two-dimensional string matrix, with a total of 20 columns equal to the number of time slots and a total of 30 rows equal to the number of satellites. S3. Set the time slot table generation time to 4:00:00 on February 17, 2025, and initialize the empty time slot table. MEO static link time slot table: Establish a visibility probability model for MEO satellite domestic-overseas inter-satellite links, and allocate static link time slots for MEO observation satellites one by one according to the visibility probability balance principle; S4, Initialization The MEO dynamic link time slot table in the table is obtained by allocating dynamic link time slots to MEO observation satellites one by one according to the visibility probability balance principle. ; S5, Set to zero The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; S6. Time slot planning for fully autonomous navigation scenarios: S601. Following the principles of uniqueness in the same column, mutual reference in the same column, priority of smaller PDOP values, and non-repeating observation star numbers in the same row (uniqueness in the same row), and after each filling, recounting the number of space slots for each observation star, and filling them in order from most to least space slots and from earliest to latest slots (rolling filling principle). The MEO dynamic link time slot table is filled with visible GEO and IGSO satellite numbers to obtain the following information: ; S602. Follow the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, and rolling fill. The time slot tables for dynamic links between GEO and IGSO are filled with the available IGSO-IGSO and IGSO-GEO inter-satellite links to obtain... ; S603. According to the principles of uniqueness in the same column, mutual reference in the same column, and priority of smaller PDOP value. In the MEO dynamic link slot table, empty slots are repeatedly filled into the link to obtain... ,like Figure 2 As shown; S604. If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S2 to S604 until the total number of time slots is [number missing]. Output all time slot tables in tabular form; S7. Time slot planning for non-fully autonomous navigation scenarios: S701, Zeroing The MEO dynamic link time slot table is used to obtain the time slots for overseas satellite-to-overseas and domestic satellite-to-domestic links. ; S702. Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, uniqueness within the same row, and priority given to smaller PDOP values. The MEO dynamic link time slot table is populated with GEO and IGSO satellite numbers, and the corresponding MEO satellite numbers are entered into the corresponding time slots of the GEO and IGSO dynamic link time slot tables to obtain the following results. ; S703. Following the principles of uniqueness within the same column, mutual reference within the same column, scrolling fill, and priority given to smaller PDOP values. The time slot table for dynamic links between GEO and IGSO allows for the establishment of IGSO-IGSO and IGSO-GEO inter-satellite links by filling empty time slots. ; S704. Following the principle of rolling fill and prioritizing smaller PDOP values. The time slots for dynamic links within China's MEO, GEO, and IGSO networks are filled with empty time slots. The ground station numbers "B", "U", "S", "A1", "A2", and "A3" are used, and their coordinates are shown in Table 2. ; Table 2
[0074] S705. According to the principles of uniqueness in the same column, mutual reference in the same column, and priority of smaller PDOP value. The MEO dynamic link time slot table is filled with empty time slots sequentially to establish domestic satellite-to-foreign satellite, domestic satellite-to-domestic, and foreign satellite-to-foreign satellite links, resulting in... ; S706. According to the principle of prioritizing smaller PDOP values. The time slots of the MEO, GEO, and IGSO dynamic links are filled with ground station numbers "B", "U", "S", "A1", "A2", and "A3" to obtain the following: ,like Figure 3 As shown; S707. If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S2 to S5 and steps S701 to S707 until the total number of time slots is [number missing]. Output all time slot tables in tabular form.
[0075] Based on this invention, a time slot table is generated for fully autonomous navigation scenarios. Figure 2 The average PDOP value is; the time slot tables generated for fully autonomous navigation and semi-autonomous navigation scenarios respectively (as shown in the figures below) are as follows: Figure 2 and Figure 3 The average PDOP value shown is: Table 3
[0076] In another embodiment of the present invention, a time slot planning system for a navigation constellation time division multiplexing network is provided. This system can be used to implement the aforementioned time slot planning method that prioritizes measurement while also considering communication in multiple scenarios. Specifically, the time slot planning system includes an initialization module, a preprocessing module, a fully autonomous navigation time slot planning module, and a non-fully autonomous navigation time slot planning module. Initialization module: Sets the total number of time slots in a single time slot table and initializes the empty time slot table. Represented as a two-dimensional empty string matrix, filled according to the probability balance principle. The MEO static link time slot table and MEO dynamic link time slot table are obtained from the data. ; Preprocessing module: Zeroing The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; The fully autonomous navigation time slot planning module: First, following the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, uniqueness within the same row, and rolling fill, in... The MEO dynamic link time slots are filled with visible GEO and IGSO satellite numbers to obtain... Then, following the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, and rolling fill, in... The time slot tables for dynamic links between GEO and IGSO are filled with the available IGSO-IGSO and IGSO-GEO inter-satellite links, resulting in... Next, following the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, in... The MEO dynamic link time slot table is filled with empty time slots for domestic satellite-to-overseas, domestic satellite-to-overseas, and domestic satellite-to-domestic links to obtain... ; Non-fully autonomous navigation time slot planning module: Zeroing The MEO dynamic link time slot table is used to obtain the link time slots for overseas satellite-to-overseas or domestic satellite-to-domestic satellite links. Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, uniqueness within the same row, and priority given to smaller PDOP values, The MEO dynamic link time slot table is filled with GEO and IGSO satellite numbers to obtain... Following the principles of uniqueness within the same column, mutual reference within the same column, scrolling fill, and priority given to smaller PDOP values, The time slot table for dynamic links between GEO and IGSO allows for the establishment of IGSO-IGSO and IGSO-GEO inter-satellite links by filling empty time slots. Following the principles of scrolling fill and prioritizing smaller PDOP values, The time slot table for dynamic links within China (MEO, GEO, IGSO) is filled with ground station numbers to obtain the empty time slots. According to the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, The MEO dynamic link time slot table is filled with empty time slots sequentially to establish domestic satellite-to-foreign satellite, domestic satellite-to-domestic, and foreign satellite-to-foreign satellite links, resulting in... According to the principle of prioritizing smaller PDOP values, The MEO dynamic link time slot table is filled with ground station numbers to obtain the empty time slots. .
[0077] Output module: Determines if the number of time slot tables meets the requirements; if not, saves the result. (Fully autonomous navigation scenario) or (Semi-autonomous navigation scenario) Continue generating time slot tables; if so, output all generated time slot tables in tabular form.
[0078] Based on the BeiDou constellation simulation model shown in Table 1, according to... Figure 1 The time slot planning process shown generates separate time slots for fully autonomous navigation scenarios and non-fully autonomous navigation scenarios. Figure 2and Figure 3 The time slot table shown and The mean PDOP values of the two tables are 1.633 and 1.570, respectively, as shown in Table 3, which meets the measurement requirements (mean PDOP value is less than 2).
[0079] This invention proposes a systematic time slot planning method. By representing the time slot table as a string matrix, the complex time-domain resource allocation problem is flattened into a two-dimensional data object. Furthermore, it combines task scheduling, visibility constraints, time slot planning principles, and PDOP optimization to achieve a unified planning mechanism across satellites and scenarios, prioritizing measurement while also considering communication. This mechanism maintains stable availability under different functional dominance scenarios (measurement-dominated, communication-dominated, and measurement-dominated with some consideration). Simultaneously, it introduces IGSO and GEO satellites as observation satellites. The former has a longer visible arc in mid-to-low latitude regions, while the latter provides continuous observation in a fixed direction. More efficient utilization of both can enhance the navigation constellation. The system ensures continuous regional observation and availability in complex environments. It employs a visibility probability balance principle, incorporating ground stations as key nodes into the time slot table for unified deployment and scheduling. This allows for fuller utilization of satellite-to-ground link resources, further reducing PDOP values and improving measurement accuracy, while also providing assurance for batch downlink and backlink transmission. It adopts principles of uniqueness within the same column, mutual reference within the same column, uniqueness in the same row, rolling filling, and priority for smaller PDOP values. These principles are enabled or weighted and adjusted according to different application scenarios (e.g., fully autonomous navigation scenarios and non-fully autonomous navigation scenarios). Based on a unified time slot planning process, time slot tables are generated for differentiated requirements of measurement and communication functions, enabling the constellation to maintain high efficiency and robustness in multiple scenarios.
[0080] Those skilled in the art will understand that, in addition to implementing the system, apparatus, and their modules provided by this invention in purely computer-readable program code, the same program can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system, apparatus, and their modules provided by this invention can be considered a hardware component, and the modules included therein for implementing various programs can also be considered structures within the hardware component; alternatively, modules for implementing various functions can be considered both software programs implementing the method and structures within the hardware component.
[0081] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.
Claims
1. A time slot planning method for a navigation constellation time division multiplexing network, characterized in that, include: Step S1: Construct a configuration of of One IGSO satellite, GEO satellites and configuration as of A navigation constellation consisting of MEO satellites, of which This represents the total number of satellites in the Walker configuration constellation. This represents the number of MEO orbital planes. The phase difference between two adjacent MEO orbitals; according to the... The constellation time slot table, composed of several time slots, establishes links for communication periodically; wherein, the constellation time slot table includes: MEO star dynamic and static link time slot table, IGSO star dynamic link time slot table, and GEO star dynamic link time slot table; Step S2: Based on By analyzing the visibility relationships between any MEO satellite and other MEO satellites based on the symmetry of the configuration, the number of static links of the MEO satellites can be obtained. and MEO dynamic link count ; Step S3: Based on MEO static link count and MEO dynamic link count The constellation time slot table is formally represented as a two-dimensional string matrix. ;in, The total number of columns is the number of time slots. The total number of rows is the number of satellites. ; Step S4: Initialize the empty time slot table so that all elements are 0. Based on the MEO static link initialization empty time slot table, the MEO static link time slot table is obtained. ; Step S5: Initialize the space slot table based on MEO dynamic links The MEO dynamic link time slot table in the table yields the following results. ; Step S6: Set to zero The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; Step S7: Based on Perform time slot planning for fully autonomous navigation scenarios; Step S8: Based on Time slot planning is carried out for non-fully autonomous navigation scenarios.
2. The time slot planning method for navigation constellation time division multiplexing networks according to claim 1, characterized in that, Step S1 includes: exist middle, The number of satellites on each orbital plane is ; Each row in the constellation time slot table corresponds to an observed star number, and each column corresponds to a time slot sequence number; The satellite number is: For the first The first on the orbital plane The serial numbers of the MEO satellites; For the first The serial numbers of the GEO satellites; For the first The serial numbers of the IGSO satellites; The time slot number is ,in, and These represent the number of static links and the number of dynamic links that any MEO satellite in the constellation can establish, respectively. This represents the total number of time slots in a single time slot table. This represents the minimum number of dynamic and static links that any MEO satellite in the constellation can establish at the same time. In the time slot table, the MEO static link time slot table is from number 1 to number 2. The rows correspond to the rows respectively. to , to … to , No. Time slot to the Time slot, and the first Time slot to the Time slot, This is the floor function operator; The MEO dynamic link time slot table is from number 1 to number 2. Okay, number Time slot to the Time slot, and the first Time slot to the Time slot; The GEO dynamic link time slot table is for the [number]. To the The rows correspond to G1 to G2 respectively. , from the 1st to the Time slot; The IGSO dynamic link time slot table is the first one. To the The rows correspond to IG1 to IG2 respectively. , from the 1st to the Time slot.
3. The time slot planning method for navigation constellation time division multiplexing networks according to claim 1, characterized in that, The two-dimensional string matrix in step S3 includes: in, For the first Okay, number Column elements, where each element is a satellite, ground station number, or space slot to be filled; This indicates that the matrix has OK, List.
4. The time slot planning method for navigation constellation time division multiplexing networks according to claim 1, characterized in that, Step S4 includes: establishing a visibility probability model for MEO satellite inter-satellite links within and outside the country, and allocating static link time slots for each MEO observation satellite according to the visibility probability balance principle, including: Constructing a space slot table ; Construct a visibility probability model for MEO satellite inter-satellite links within and outside China; For a single or multiple ground stations, a domestic satellite is defined as a satellite that is visible to at least one ground station within a certain time range, and an overseas satellite is defined as a satellite that is not visible to any ground station within a certain time range. in, For time range; The conditional probability that the observed star and the observed star are within or outside the territory is: Based on the periodic revisit characteristics of constellation orbits, the continuous conditional probability is approximated as the statistical probability of discrete-time sampling points within the constellation revisit period: in, A set representing discrete-time sampling results; For multiple observed stars Observing stars The probabilities of establishing domestic-overseas inter-satellite links are respectively ; The static link time slots allocated to MEO observation satellites one by one according to the visibility probability balance principle include: The first constellation MEO observation stars of A set of continuously visible satellites numbered together The corresponding probability relationship of domestic-overseas inter-satellite links is as follows: like For odd numbers, the filling order of the MEO static link time slot table is as follows: in, This is the floor function operator; like If the number is even, the filling order of the MEO static link time slot table is as follows: Fill the current time slot table sequentially according to the obtained filling order. In the two-dimensional matrix, the first Line static link time slot, let Repeatedly trigger the execution until all MEO static link slot tables are filled.
5. The time slot planning method for a navigation constellation time division multiplexing network according to claim 1, characterized in that, Step S5 includes: The first constellation MEO observation stars of A set of intermittently visible satellite numbers The corresponding probability relationship of domestic-overseas inter-satellite links is as follows: like For odd numbers, the filling order of the MEO static link time slot table is as follows: in, This is the floor function operator; like If the number is even, the filling order of the MEO static link time slot table is as follows: Fill the current time slot table sequentially according to the obtained filling order. In the two-dimensional matrix, the first Dynamic link time slots, making Repeatedly trigger the execution until all MEO dynamic link slot tables are filled.
6. The time slot planning method for a navigation constellation time division multiplexing network according to claim 1, characterized in that, Step S7 includes: Step S7.1: Fill according to the principles of uniqueness within the same column, mutual reference within the same column, priority of smaller PDOP values, and non-repeating observed star numbers in the same row. Furthermore, after each filling, the number of space slots for each observed star is recounted, and the slots are filled sequentially in descending order of number of space slots and from earliest to latest. The MEO dynamic link time slot table is filled with visible GEO and IGSO satellite numbers to obtain the following information: The subscript in the middle This represents the time slot table in fully autonomous navigation mode. Step S7.3: Following the principles of uniqueness within the same column, mutual reference within the same column, priority given to smaller PDOP values, and rolling fill, The time slot tables for dynamic links between GEO and IGSO are filled with the available IGSO-IGSO and IGSO-GEO inter-satellite links to obtain... ; Step S7.4: Following the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, In the MEO dynamic link slot table, empty slots are repeatedly filled into the link to obtain... ; Step S7.5: If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S3 to S7 until the total number of time slots is [number missing]. Output all time slot tables in tabular form; among them, It is a finite positive integer greater than 1.
7. The time slot planning method for a navigation constellation time division multiplexing network according to claim 1, characterized in that, Step S8 includes: Step S8.1: Set to zero The MEO dynamic link time slot table is used to obtain the time slots for overseas satellite-to-overseas and domestic satellite-to-domestic links. The subscript in the middle This represents the time slot table in non-fully autonomous navigation mode; Step S8.2: Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, uniqueness within the same row, and priority given to smaller PDOP values, The MEO dynamic link time slot table is populated with GEO and IGSO satellite numbers, and the corresponding MEO satellite numbers are entered into the corresponding time slots of the GEO and IGSO dynamic link time slot tables to obtain the following results. ; Step S8.3: Following the principles of uniqueness within the same column, mutual reference within the same column, scroll fill, and priority given to smaller PDOP values, The time slot table for dynamic links between GEO and IGSO allows for the establishment of IGSO-IGSO and IGSO-GEO inter-satellite links by filling empty time slots. ; Step S8.4: Following the principle of scrolling fill and prioritizing smaller PDOP values, The time slot table for dynamic links within China (MEO, GEO, IGSO) is filled with ground station numbers to obtain the empty time slots. ; Step S8.5: Following the principles of uniqueness within the same column, mutual reference within the same column, and priority given to smaller PDOP values, The MEO dynamic link time slot table is filled with empty time slots sequentially to establish domestic satellite-to-foreign satellite, domestic satellite-to-domestic, and foreign satellite-to-foreign satellite links, resulting in... ; Step S8.6: According to the principle of prioritizing smaller PDOP values, The empty time slots in the MEO, GEO, and IGSO dynamic link time slot tables are filled with ground station numbers to obtain... ; Step S8.7: If only one time slot table is needed, output it in tabular form. If needed Zhang time slot table, saved Repeat steps S2 to S5 and steps S8.1 to S8.7 until the total number of time slots is [number missing]. Output all time slot tables in tabular form.
8. The navigation constellation time-division multiplexing network time slot planning method according to claim 6 or 7, characterized in that, The principles of uniqueness within the same column, mutual reference within the same column, and priority of smaller PDOP values include: For characterizing the current time slot table For a two-dimensional matrix, the principle of uniqueness within the same column means that the observed stars in the same column are not numbered repeatedly. The mathematical expression is as follows: The principle of mutual reference within the same column means that for a satellite that can be both observed and monitored, when it is written into the time slot of an observation satellite as an observed satellite, the number of that observation satellite must be written synchronously in the same time slot in which it is monitored. The mathematical expression is as follows: , No. The observed star corresponding to the row is , or ,like For the filled , , or Correspondingly, for , , or ; The PDOP value minimization principle is a filling method based on the PDOP value minimization algorithm, wherein the PDOP value minimization algorithm is selected from at least one of the group consisting of genetic algorithm, particle swarm optimization, simulated annealing, tabu search, differential evolution and multi-objective evolutionary algorithm.
9. The time slot planning method for a navigation constellation time division multiplexing network according to claim 7, characterized in that, The principle of peer uniqueness includes: For characterizing the current time slot table Two-dimensional matrix: 。 10. A time slot planning system for a navigation constellation time division multiplexing network, characterized in that, include: Module M1: Constructs a module with the following configuration of One IGSO satellite, GEO satellites and configuration as of A navigation constellation consisting of MEO satellites, of which This represents the total number of satellites in the Walker configuration constellation. This represents the number of MEO orbital planes. The phase difference between two adjacent MEO orbitals; according to the... The constellation time slot table, composed of several time slots, establishes links for communication periodically; wherein, the constellation time slot table includes: MEO star dynamic and static link time slot table, IGSO star dynamic link time slot table, and GEO star dynamic link time slot table; Module M2: Based on By analyzing the visibility relationships between any MEO satellite and other MEO satellites based on the symmetry of the configuration, the number of static links of the MEO satellites can be obtained. and MEO dynamic link count ; Module M3: Based on MEO static link count and MEO dynamic link count The constellation time slot table is formally represented as a two-dimensional string matrix. ;in, The total number of columns is the number of time slots. The total number of rows is the number of satellites. ; Module M4: Initializes the empty time slot table to have all elements as 0. Based on the MEO static link initialization empty time slot table, the MEO static link time slot table is obtained. ; Module M5: Initializes the space slot table based on MEO dynamic link The MEO dynamic link time slot table in the table yields the following results. ; Module M6: Zero The invisible satellite numbers of the inter-satellite links in the MEO dynamic link slots are obtained. ; Module M7: Based on Perform time slot planning for fully autonomous navigation scenarios; Module M8: Based on Time slot planning is carried out for non-fully autonomous navigation scenarios.