Low-orbit satellite communication method and device, ground communication equipment and storage medium

Abstract

Embodiments of the present application provide a low-orbit satellite communication method, device, ground communication equipment and storage medium. The method is that when the microcontroller receives the initialization start instruction sent by the Android core board, the microcontroller sends a preset initialization sequence to the low-orbit satellite module, so that the low-orbit satellite module establishes a satellite link; when the low-orbit satellite module returns link initial establishment information, the microcontroller parses initial link parameters from the link initial establishment information; based on the initial link parameters, the microcontroller sends a link adjustment instruction to the low-orbit satellite module, so that the low-orbit satellite module adjusts the established satellite link; according to the real-time parameters of the satellite link reported by the low-orbit satellite module, the microcontroller adjusts the data structure and transmission strategy of the uplink data frame sent by the Android core board to the low-orbit satellite module, so that the low-orbit satellite module sends the adjusted uplink data frame to the low-orbit satellite, thereby balancing the transmission reliability, real-time performance and energy efficiency ratio in a complex dynamic scene.

Description

Technical Field

[0001] This invention relates to the field of satellite communication technology, and more specifically, to a low-Earth orbit satellite communication method, apparatus, ground communication equipment, and storage medium. Background Technology

[0002] Low-Earth orbit (LEO) satellite communication systems, with their advantages of low latency, wide coverage, and rapid deployment, are rapidly integrating into the terrestrial mobile communication ecosystem, demonstrating irreplaceable value, especially in scenarios such as emergency communication, marine operations, remote area networking, and wide-area access for the Internet of Things (IoT). Currently, mainstream LEO satellite terminal equipment generally adopts a dual-processor architecture of "Android core board and satellite communication module": the Android core board is responsible for human-computer interaction, application scheduling, and high-level protocol stack processing; the LEO satellite module undertakes underlying functions such as radio frequency transceiver, baseband modulation and demodulation, link layer control, and satellite signaling interaction.

[0003] However, the communication protocol of the low-orbit satellite module differs from the serial / USB communication protocol of the Android core board. For example, the different baud rates can lead to communication failures, and problems such as data frame loss and parsing errors are prone to occur. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a low-orbit satellite communication method, apparatus, ground communication equipment and storage medium.

[0005] To achieve the above objectives, the technical solutions adopted in the embodiments of the present invention are as follows: In a first aspect, the present invention provides a low-Earth orbit (LEO) satellite communication method applied to a microcontroller of a terrestrial communication device. The terrestrial communication device further includes an Android core board and a LEO satellite module. The microcontroller is electrically connected to both the Android core board and the LEO satellite module. The method includes: Upon receiving the initialization startup command sent by the Android core board, a preset initialization sequence is sent to the low-Earth orbit satellite module to enable the low-Earth orbit satellite module to establish a satellite link. When the low-orbit satellite module returns the initial link establishment information, the initial link parameters are parsed from the initial link establishment information; Based on the initial link parameters, a link adjustment command is sent to the low-Earth orbit satellite module to enable the low-Earth orbit satellite module to adjust the established satellite link. Based on the real-time parameters of the satellite link reported by the low-Earth orbit satellite module, the data structure and transmission strategy of the uplink data frames sent by the Android core board to the low-Earth orbit satellite module are adjusted so that the low-Earth orbit satellite module can send the adjusted uplink data frames to the low-Earth orbit satellite.

[0006] Optionally, the real-time parameters include link signal strength, transmission delay, channel load, time slot occupancy rate, and link bit error rate; the data structure includes encapsulation format and frame length; and the transmission strategy includes instruction mapping logic and retransmission strategy. The step of adjusting the data structure and transmission strategy of the uplink data frames sent by the Android core board to the low-Earth orbit satellite module based on the real-time parameters of the satellite link reported by the low-Earth orbit satellite module includes: If the link signal strength is less than the preset strength and the link bit error rate is greater than the preset bit error rate, then a preset double check field is added to the uplink data frame, the frame length of the uplink data frame is adjusted to the first preset length, and only the communication function instructions in the instruction mapping logic are retained. If the transmission delay is greater than the first preset delay, a preset delay compensation field is added to the header of the uplink data frame, and the frame interval time of the uplink data frame and the number of retransmissions, retransmission interval and retransmission priority of the control commands in the retransmission strategy are adjusted according to the transmission delay. If the channel load is greater than the first preset load and the time slot occupancy rate is greater than the preset occupancy rate, a preset priority field is added to the uplink data frame to divide the data in the uplink data frame into emergency location data and regular sensor data, and the instruction mapping logic is adjusted based on the transmission priority of the emergency location data and the regular sensor data. If the link error rate is greater than the preset error rate and the time slot occupancy rate is within the preset occupancy rate range, a preset error compensation field is added to the uplink data frame, the frame length of the uplink data frame is adjusted to a second preset length, and the instruction retransmission threshold and instruction retransmission interval in the retransmission strategy are adjusted according to the link error rate.

[0007] Optionally, the step of adjusting the frame interval time of the uplink data frame and the retransmission count, retransmission interval, and retransmission priority of the control commands in the retransmission strategy according to the transmission delay includes: The frame interval of the uplink data frame is adjusted to be the product of the transmission delay and a first preset multiple; Adjust the number of retransmissions of control commands in the retransmission strategy to a preset number; The retransmission interval of control commands in the retransmission strategy is adjusted to be the product of the transmission delay and a second preset multiple; the second preset multiple is greater than the first preset multiple. The retransmission priority of control commands in the retransmission strategy is adjusted to the highest level.

[0008] Optionally, the transmission priority of the emergency location data is higher than that of the conventional sensor data, and the step of adjusting the command mapping logic based on the transmission priorities of the emergency location data and the conventional sensor data includes: Filter query commands for the conventional sensor data in the instruction mapping logic; In the instruction mapping logic, instructions targeting the emergency location data are merged into similar ones.

[0009] Optionally, the step of setting the instruction retransmission threshold and instruction retransmission interval in the retransmission strategy based on the link bit error rate includes: Adjust the instruction retransmission threshold to a first preset value; Calculate the product of the link error rate and the second preset value, and use the product as the instruction retransmission interval.

[0010] Optionally, the initial link parameters include initial link signal strength, initial transmission delay, initial channel load, initial time slot occupancy rate, and initial link bit error rate. The step of sending a link adjustment command to the low-Earth orbit satellite module based on the initial link parameters includes: Doppler frequency shift compensation parameters are determined based on the initial link signal strength, the initial transmission delay, the initial channel load, the initial time slot occupancy rate, and the initial link bit error rate. The Doppler frequency shift compensation parameters are packaged into the link adjustment command and sent to the low-Earth orbit satellite module so that the low-Earth orbit satellite module can adjust the transmission and reception frequency of the established satellite link.

[0011] Optionally, the preset initialization sequence includes multiple initialization commands. Each time the low-Earth orbit satellite module executes one of the initialization commands, it must return a response message to the microcontroller. After the step of sending the preset initialization sequence to the low-Earth orbit satellite module, the method further includes: Monitor the number of response timeouts of the low-orbit satellite module; If the number of response timeouts reaches a preset number, a reset command is sent to the low-Earth orbit satellite module to enable the low-Earth orbit satellite module to re-establish the satellite link.

[0012] Secondly, the present invention provides a low-Earth orbit satellite communication device, a microcontroller applied to a ground communication device, the ground communication device further comprising an Android core board and a low-Earth orbit satellite module, the microcontroller being electrically connected to both the Android core board and the low-Earth orbit satellite module, the device comprising: The sending module is configured to send a preset initialization sequence to the low-Earth orbit satellite module when it receives an initialization start command from the Android core board, so that the low-Earth orbit satellite module can establish a satellite link; when the low-Earth orbit satellite module returns link initial establishment information, it parses the initial link parameters from the link initial establishment information; and based on the initial link parameters, it sends a link adjustment command to the low-Earth orbit satellite module, so that the low-Earth orbit satellite module can adjust the established satellite link. The processing module is used to adjust the data structure and transmission strategy of the uplink data frame sent by the Android core board to the low-Earth orbit satellite module according to the real-time parameters of the satellite link reported by the low-Earth orbit satellite module, so that the low-Earth orbit satellite module can send the adjusted uplink data frame to the low-Earth orbit satellite.

[0013] Thirdly, the present invention provides a terrestrial communication device, including a microcontroller and a memory, wherein the memory stores machine-executable instructions that can be executed by the microcontroller, and the microcontroller can execute the machine-executable instructions to implement the low-Earth orbit satellite communication method described in the first aspect above.

[0014] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the low-Earth orbit satellite communication method as described in the first aspect above.

[0015] The low-Earth orbit (LEO) satellite communication method, apparatus, ground communication equipment, and storage medium provided in this invention include: when a microcontroller receives an initialization startup command from an Android core board, it sends a preset initialization sequence to the LEO satellite module to enable the LEO satellite module to establish a satellite link; when the LEO satellite module returns link initial establishment information, it parses the initial link parameters from the link initial establishment information; based on the initial link parameters, it sends a link adjustment command to the LEO satellite module to enable the LEO satellite module to adjust the established satellite link; and according to the real-time parameters of the satellite link reported by the LEO satellite module, it adjusts the data structure and transmission strategy of the uplink data frames sent by the Android core board to the LEO satellite module, so that the LEO satellite module can send the adjusted uplink data frames to the LEO satellite. Because the embodiments of the present invention actively initiate link establishment and parameter co-optimization during the initialization phase through a microcontroller, it not only overcomes the bottlenecks of high link startup failure rate and long first connection time caused by traditional static initialization, but also dynamically issues link adjustment instructions based on the initial link parameters, improving the first connection success rate and link robustness. Based on the real-time reported link parameters, it continuously reverse-adjusts the uplink data frame structure and transmission strategy, coupling communication behavior with the high-speed time-varying characteristics of the satellite link, thereby taking into account transmission reliability, real-time performance and energy efficiency in complex dynamic scenarios.

[0016] 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

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This diagram illustrates a structural block of a terrestrial communication device according to an embodiment of the present invention. Figure 1 ; Figure 2 This illustration shows a flowchart of a low-Earth orbit satellite communication method provided by an embodiment of the present invention. Figure 1 ; Figure 3 This illustration shows a flowchart of a low-Earth orbit satellite communication method provided by an embodiment of the present invention. Figure 2 ; Figure 4 This diagram illustrates a structural block of a terrestrial communication device according to an embodiment of the present invention. Figure 2 ; Figure 5 A functional block diagram of a low-Earth orbit satellite communication device provided in an embodiment of the present invention is shown.

[0019] Icons: 100-Ground communication equipment; 110-Memory; 120-Microcontroller; 130-Android core board; 140-Low Earth orbit satellite module; 150-Power management module; 160-Status monitoring module; 200-Low Earth orbit satellite communication device; 201-Transmission module; 202-Processing module. Detailed Implementation

[0020] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0022] It should be noted that relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0023] Low-Earth orbit (LEO) satellite internet is currently undergoing rapid global deployment. LEO satellites (those operating in low Earth orbit at altitudes of approximately 200–2000 kilometers) have become a core solution for filling gaps in terrestrial cellular networks due to their advantages such as low transmission latency, high data rates, and seamless global coverage. Meanwhile, Android core boards, as the core control unit of embedded terminals, are widely used in smart terminals, industrial control systems, and IoT devices due to their open system architecture and rich application ecosystem, providing fundamental support for the intelligent upgrade of terminals. However, in practical applications, communication between LEO satellite modules and Android core boards still commonly uses traditional serial ports or USB interfaces for direct connection, relying on fixed static protocol mapping and data pass-through mechanisms, thus exposing a series of unavoidable technical challenges.

[0024] This fixed, static communication method has four fundamental flaws: First, poor communication compatibility. The communication protocol of the low-Earth orbit satellite module and the serial / USB communication protocol of the Android core board have inherent differences in baud rate, frame format, and instruction set, making it difficult to adapt different models of modules and core boards, resulting in weak universality. Second, insufficient communication reliability. The high-speed motion of low-Earth orbit satellites causes significant Doppler shift, and atmospheric attenuation and terrain obstruction cause drastic fluctuations in signal strength. Existing solutions lack both link status awareness and anti-interference and adaptive retransmission mechanisms, making them prone to communication interruptions, data frame loss, and instruction parsing errors. Third, unreasonable power consumption control. The Android core board and low-Earth orbit satellite module maintain a full-load communication state for a long time, especially in battery-powered IoT terminal scenarios, where continuous high power consumption severely compresses device battery life. Fourth, lack of a unified communication management mechanism. It is impossible to monitor and diagnose communication link quality and module operating status in real time, and it is impossible to automatically adjust parameters according to link changes, making it difficult to meet the needs of special scenarios with extremely high stability requirements, such as emergency communication. Furthermore, existing technologies mostly focus on single protocol adaptation or direct hardware connection, failing to organically combine the dynamic physical characteristics of low-Earth orbit satellite links (such as signal quality, time slot occupancy, and link error rate) with the software configurability of the Android system. They have not yet formed an integrated closed-loop communication solution of "hardware-protocol-software", and therefore cannot simultaneously achieve multiple goals such as communication reliability, universality, intelligence, and low power consumption.

[0025] To overcome the shortcomings of the prior art, embodiments of the present invention provide a low-orbit satellite communication method, apparatus, ground communication equipment, and storage medium, which will be described in detail below.

[0026] Please refer to Figure 1 This is a block diagram of a ground communication device 100. The ground communication device 100 includes a memory 110, a microcontroller 120, an Android core board 130, and a low-Earth orbit satellite module 140. The memory 110, microcontroller 120, Android core board 130, and low-Earth orbit satellite module 140 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0027] The memory 110 is used to store programs or data. The memory 110 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0028] The microcontroller 120 is used to read / write data or programs stored in the memory 110 and to perform corresponding functions.

[0029] The Android Core Board 130 is a touchscreen running the Android operating system with display and input functions. It can use native Android functions such as phone calls, SMS, and data packets based on low-Earth orbit satellite modules. It has built-in serial port drivers and communication management software, and supports dynamic configuration of communication parameters.

[0030] The LEO satellite module 140 is a dedicated terminal access hardware unit for low Earth orbit (LEO) constellations operating at altitudes of approximately 200–2000 kilometers above the Earth. As the core interface between ground equipment and the LEO satellite network, it is responsible for signal transmission and reception, protocol processing, and link maintenance, enabling ubiquitous connectivity in scenarios without terrestrial cellular coverage.

[0031] It should be understood that, Figure 1 The structure shown is only a schematic diagram of the ground communication device 100. The ground communication device 100 may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown. Figure 1 The components shown can be implemented using hardware, software, or a combination thereof.

[0032] Please refer to Figure 2 The low-orbit satellite communication method applied to the microcontroller 120 provided in this embodiment of the invention includes steps S101 to S104.

[0033] S101, upon receiving the initialization start command sent by the Android core board 130, sends a preset initialization sequence to the low-orbit satellite module 140 so that the low-orbit satellite module 140 establishes a satellite link.

[0034] In this embodiment of the invention, the microcontroller 120 can receive the initialization start command sent by the Android core board 130, and send a preset initialization sequence to the low-Earth orbit satellite module 140 accordingly. The preset initialization sequence is not a single command, but includes multiple initialization commands with strict timing relationships and dependency logic, such as configuring the communication mode, setting the baud rate, setting the signal gain, and loading Doppler frequency shift compensation parameters in sequence. For each command executed, the low-Earth orbit satellite module 140 must return a response message to the microcontroller 120, and the microcontroller 120 confirms whether the command was executed successfully. If a command response times out, the microcontroller 120 can monitor the number of response timeouts. At the same time, the initialization process is jointly completed by the microcontroller 120 and the communication management software of the Android core board 130. It not only initializes the communication parameters of the low-Earth orbit satellite module 140, but also synchronously initializes the protocol conversion function, data buffering function, and data isolation function of the communication adapter module itself, ensuring that the entire communication link from the underlying hardware to the intermediate adapter layer and then to the upper-layer software is in a consistent, controllable, and ready state.

[0035] Understandably, in this embodiment of the invention, the microcontroller 120 serves as the active coordination hub during the communication startup phase, establishing a standardized handshake process that is controllable, verifiable, and retryable between the Android core board 130 and the low-orbit satellite module 140, rather than relying on a direct, rigid, and feedback-free hard connection between the two. This process uses a preset initialization sequence as the execution carrier, encapsulating the originally scattered, implicit, and easily failed actions such as hardware wake-up, parameter configuration, and protocol synchronization into a set of instructions with a clear response mechanism and failure handling logic.

[0036] S102, when the low-orbit satellite module 140 returns the initial link establishment information, parse the initial link parameters from the initial link establishment information.

[0037] In this embodiment of the invention, the microcontroller 120 can parse the initial link parameters from the link initial establishment information returned by the low-Earth orbit satellite module 140. The link initial establishment information refers to a set of structured response data actively reported by the low-Earth orbit satellite module 140 to the microcontroller 120 after completing radio frequency locking, ephemeris synchronization, signal acquisition, and basic link negotiation. Its content includes at least the initial link signal strength (i.e., received signal strength indication), initial transmission delay (i.e., end-to-end one-way or round-trip delay), initial channel load (i.e., current channel resource occupancy ratio), initial time slot occupancy rate (i.e., the utilization rate of time slot resources allocated to the terminal by the low-Earth orbit satellite), and initial link bit error rate (i.e., bit error rate after physical layer data demodulation). The parsing module built into the microcontroller 120 performs field recognition, value extraction, and unit normalization processing on the above information according to preset rules to ensure that the obtained parameters have cross-module consistency and cross-scenario comparability.

[0038] Understandably, in this embodiment of the invention, the original link feedback information actively reported by the low-orbit satellite module 140 after completing the physical layer connection is transformed into structured and quantifiable initial state data that can be used by the microcontroller 120 for subsequent dynamic decision-making. Thus, the transition from "physical connectivity" to "state awareness" is completed at the beginning of the communication link establishment. This process is not simply reading the response string, but rather using preset parsing rules to accurately extract parameters characterizing the initial quality of the link, including initial link signal strength, initial transmission delay, initial channel load, initial time slot occupancy rate, and initial link bit error rate.

[0039] S103, based on the initial link parameters, sends a link adjustment command to the low-Earth orbit satellite module 140 so that the low-Earth orbit satellite module 140 adjusts the established satellite link.

[0040] In a possible implementation, step S103 can be implemented as follows: determining the Doppler frequency shift compensation parameters based on the initial link signal strength, initial transmission delay, initial channel load, initial time slot occupancy rate, and initial link bit error rate; packaging the Doppler frequency shift compensation parameters into a link adjustment command and sending it to the low-Earth orbit satellite module 140 so that the low-Earth orbit satellite module 140 adjusts the transmission and reception frequencies of the established satellite link.

[0041] In other words, in this embodiment of the invention, the microcontroller 120 can send a link adjustment command to the low-Earth orbit satellite module 140 based on the initial link parameters, so that the low-Earth orbit satellite module 140 can adjust the established satellite link. The initial link parameters here refer to the five types of quantitative indicators parsed from the initial link establishment information in S102, including the initial received signal strength indicator (RSSI), initial transmission delay, initial channel load, initial time slot occupancy rate, and initial bit error rate (BER). The microcontroller 120 comprehensively analyzes the above parameters and uses link-linked dynamic protocol conversion logic to determine the Doppler frequency shift compensation parameters. For example, when the initial RSSI is -96 dBm, the initial transmission delay is 85 ms, and the initial bit error rate is 12%, the microcontroller 120 determines that the low-Earth orbit satellite is in a high-speed moving scenario and calculates that a downlink frequency offset compensation value of -42.3 kHz and +38.7 kHz need to be sent to the low-Earth orbit satellite module 140. The microcontroller 120 then packages the Doppler frequency shift compensation parameter into a standardized link adjustment command (e.g., AT+SATDOP= -42300, +38700) and sends it to the low-Earth orbit satellite module 140 via a serial / USB channel. Upon receiving the command, the low-Earth orbit satellite module 140 adjusts the control voltage of its internal voltage-controlled oscillator (VCO) in real time to calibrate the center frequency of the RF transceiver unit, thereby offsetting the carrier frequency shift caused by the high-speed motion of the satellite and ensuring that the modulation and demodulation process proceeds normally.

[0042] Understandably, by directly mapping the initial link parameters to physical layer control actions, the low-orbit satellite module 140 completes frequency alignment at the beginning of link establishment, which greatly reduces the initial bit error rate, shortens the link convergence time, and improves the anti-dynamic interference capability of the entire satellite communication system. It also solves the problems of link fragility and frequent communication interruptions in high-mobility scenarios caused by neglecting active compensation for Doppler frequency shift in the prior art.

[0043] S104, based on the real-time parameters of the satellite link reported by the low-Earth orbit satellite module 140, adjust the data structure and transmission strategy of the uplink data frame sent by the Android core board 130 to the low-Earth orbit satellite module 140, so that the low-Earth orbit satellite module 140 can send the adjusted uplink data frame to the low-Earth orbit satellite.

[0044] The real-time parameters include link signal strength, transmission delay, channel load, time slot occupancy rate, and link bit error rate. The data structure includes encapsulation format and frame length. The transmission strategy includes instruction mapping logic and retransmission strategy.

[0045] In possible implementations, step S104 can be implemented in the following four ways: In scenario one, if the link signal strength is less than the preset strength and the link bit error rate is greater than the preset bit error rate, a preset double check field is added to the uplink data frame, the frame length of the uplink data frame is adjusted to the first preset length, and only the communication function instructions in the instruction mapping logic are retained.

[0046] Understandably, in this embodiment of the invention, the microcontroller 120 can detect when the link signal strength is less than a preset strength (e.g., -90 dBm) and the link bit error rate is greater than a preset bit error rate (e.g., 10%) (for example, when the microcontroller 120 collects the low-orbit satellite link parameters in real time as follows: RSSI is -96 dBm, the link bit error rate is 12%, and the time slot occupancy rate is 25%, it determines that the low-orbit satellite signal is severely attenuated due to terrain obstruction). At this time, a "low bit error rate, lightweight" dynamic conversion strategy is executed: First, a preset double check field is added to the uplink data frame, that is, on the basis of the original check mechanism (e.g., CRC32 main check), an additional double check field is added. An external parity check auxiliary field is embedded, expanding the check coverage from "data content only" to "data content + instruction identifier + transmission timing," thereby supporting partial error identification and fragment-level retransmission and avoiding the fragile "one error, all data lost" mode in existing technologies. Secondly, the frame length of the uplink data frame is adjusted to a first preset length (e.g., 128 bytes), significantly shortening the single-frame transmission time and reducing the probability of single-frame errors due to signal attenuation. This is combined with "frame interval adaptive adjustment" logic (e.g., adjusting the frame interval from 100 bytes to 128 bytes based on real-time time slot occupancy). The length of the instruction is compressed from ms to 50 ms, utilizing idle time slots to complete high-frequency short frame transmissions and improve the effective information throughput per unit time. Finally, only the communication function instructions in the instruction mapping logic are retained, that is, all query, diagnostic, and configuration instructions that are not necessary for maintaining the link (such as temperature, voltage, version, register, etc.) are filtered out, and only three types of core instructions are mapped and forwarded: signal quality feedback instructions, link status confirmation instructions, and link parameter renegotiation instructions. Complex instructions (such as the original AT+SATLINK? which returned 10 parameters) are mapped to a simplified version (such as AT+SATERR? which only returned RSSI and BER). The instruction length is compressed from 22 bytes to 10 bytes. Thus, through the organic coordination of three actions, this feature achieves a shift from "preserving frames" to "preserving key bits" and from "preserving instructions" to "preserving key instructions" even under extreme conditions of a precipitous drop in link quality. This not only reduces the link error rate from 12% to below 3% and increases the data transmission success rate from 35% to 88%, but also ensures the observability, diagnosability, and maintainability of communication links in scenarios with severe signal obstruction, such as wilderness exploration and mountain rescue. It fundamentally solves the fundamental problems of key instruction loss, link loss of control, and system disconnection caused by the lack of graded protection capabilities under degraded links in existing technologies.

[0047] In scenario two, if the transmission delay is greater than the first preset delay, a preset delay compensation field is added to the header of the uplink data frame, and the frame interval time of the uplink data frame and the number of retransmissions, retransmission interval, and retransmission priority of control commands in the retransmission strategy are adjusted according to the transmission delay.

[0048] The implementation process of "adjusting the frame interval time of uplink data frames and the number of retransmissions, retransmission intervals, and retransmission priorities of control commands in the retransmission strategy according to the transmission delay" can be as follows: adjusting the frame interval time of uplink data frames to the product of the transmission delay and a first preset multiple; adjusting the number of retransmissions of control commands in the retransmission strategy to a preset number; adjusting the retransmission interval of control commands in the retransmission strategy to the product of the transmission delay and a second preset multiple; the second preset multiple is greater than the first preset multiple; and adjusting the retransmission priority of control commands in the retransmission strategy to the highest.

[0049] Understandably, in this embodiment of the invention, when the microcontroller 120 detects that the transmission delay is greater than a first preset delay (e.g., 70 ms) (for example, the microcontroller 120 collects the low-orbit satellite link parameters in real time as follows: transmission delay is 90 ms, RSSI is -75 dBm, and channel load is 40%), it executes a delay compensation and retransmission optimization strategy: First, a preset delay compensation field is added to the header of the uplink data frame, i.e., a 1-byte identifier and corresponding value are inserted (e.g., AT+SATDELAY = [delay value], [data content], [checksum]), so that the Android core board 130 can know the actual end-to-end delay of this transmission after receiving the frame, and then dynamically calibrate the waiting window and state transition timing of its internal protocol parser to avoid misparsing caused by timing mismatch; Second, the frame interval of the uplink data frame is adjusted according to the transmission delay, i.e., the frame interval is set to the product of the transmission delay and a first preset multiple (e.g., 1.5) (i.e., 90 ms × 1.5 = To ensure sufficient safety intervals between adjacent frames (135 ms), frame overlap and conflicts caused by latency jitter are avoided from the source, and the frame length is controlled at 512 bytes to avoid frame conflicts. Secondly, the number of retransmissions of control commands in the retransmission strategy is adjusted from a fixed 3 times to a preset higher number (e.g., 5 times) to enhance the robustness of critical commands in long-latency environments. Next, the retransmission interval for control commands is adjusted to the product of the transmission delay and a second preset multiple (e.g., 2.0, and explicitly greater than the first preset multiple) (i.e., 90 ms × 2.0 = 180 ms), ensuring that the retransmission timing strictly matches the actual response cycle of the link, avoiding both premature retransmission causing channel redundancy and late retransmission leading to link disconnection. Finally, the retransmission priority of control commands is adjusted to the highest level to ensure that retransmission requests always enter the transmission queue first when channel resources are scarce, without being blocked by ordinary service data.

[0050] Scenario 3: If the channel load is greater than the first preset load and the time slot occupancy rate is greater than the preset occupancy rate, a preset priority field is added to the uplink data frame to divide the data in the uplink data frame into emergency location data and regular sensor data, and the command mapping logic is adjusted based on the transmission priority of emergency location data and regular sensor data.

[0051] Among them, emergency location data has a higher transmission priority than regular sensor data. The implementation process of "adjusting the command mapping logic based on the transmission priority of emergency location data and regular sensor data" can be as follows: filtering query commands for regular sensor data in the command mapping logic; and merging similar commands for emergency location data in the command mapping logic.

[0052] Understandably, in this embodiment of the invention, the microcontroller 120 may execute a dynamic conversion strategy of "time slot adaptation and priority sorting" when it detects that the channel load is greater than a first preset load (e.g., 80%) (for example, the microcontroller 120 collects the following low-Earth orbit satellite link parameters in real time: channel load is 85%, RSSI is -80dBm, and transmission delay is 60ms) or the time slot occupancy rate is greater than a preset occupancy rate (e.g., 80%) (for example, the microcontroller 120 collects the following low-Earth orbit satellite link parameters in real time: RSSI is -80dBm, link error rate is 3%, and time slot occupancy rate is 85%): First, it synchronizes the time slot allocation information of the low-Earth orbit satellites and converts the protocol during the time slot allocation process. The system precisely aligns with idle time slots, meaning protocol conversion and data forwarding are performed only during satellite idle time slots (slot occupancy rates below 80%). This avoids forced conversions during peak time slot periods, reducing frame conflicts. The protocol conversion mode is changed from "real-time transparent transmission" to "buffered-opportunistic forwarding," ensuring efficient data transmission during idle time slots. Secondly, a preset priority field is added to the uplink data frame, inserting a 1-byte priority identifier (value 0–3) into the frame header. Level 0 is dedicated to emergency location data (such as GPS / BDS coordinates, altitude, azimuth, and emergency event codes), while level 3 is dedicated to regular sensor data (such as temperature, humidity, air pressure, acceleration, and remaining battery power). Each data frame carries an immutable service level tag before entering the communication link, providing the satellite-side scheduler with a clear QoS (Quality of Service) decision-making basis. Then, the original fixed 512-byte frame length is adjusted to a hybrid encapsulation mode of "high-priority data short frames (256 bytes) + low-priority data long frames (1024 bytes)". Core data (such as emergency location and personnel status data) uses 256-byte short frames, prioritizing idle time slots; ordinary data (such as regular sensor data) uses 1024-byte long frames, transmitted in multiple consecutive idle time slots, balancing transmission efficiency and time slot utilization. Finally, query commands corresponding to regular sensor data are filtered, i.e., within the time slot... During periods of occupancy ≥ 80%, mapping is paused and all polling commands related to regular sensing are sent, releasing channel bandwidth from the source. Regular sensing data is compressed to 60% of its original size using the LZ77 lightweight compression algorithm, and four 128-byte low-priority short frames are merged into one 512-byte frame for unified transmission. Commands corresponding to emergency location data are merged into similar commands. That is, when the Android core board 130 triggers three independent data transmission requests within one second, the microcontroller 120 does not map them into three independent commands, but integrates them into one composite command, significantly reducing the number of commands and frame header overhead, ensuring that the success rate of emergency location data transmission at level 0 reaches over 95%.

[0053] Scenario 4: If the link error rate is greater than the preset error rate and the time slot occupancy rate is within the preset occupancy rate range, a preset error compensation field is added to the uplink data frame, the frame length of the uplink data frame is adjusted to the second preset length, and the instruction retransmission threshold and instruction retransmission interval in the retransmission strategy are adjusted according to the link error rate.

[0054] The implementation process of "adjusting the command retransmission threshold and command retransmission interval in the retransmission strategy according to the link bit error rate" can be as follows: adjust the command retransmission threshold to a first preset value; calculate the product of the link bit error rate and the second preset value, and use the product as the command retransmission interval.

[0055] Understandably, when the microcontroller 120 detects that the link error rate is greater than a preset error rate (e.g., 8%) and the time slot occupancy rate is within a preset occupancy rate range (e.g., 40%–60%, i.e., the channel is not congested and resources are available) (for example, the microcontroller 120 collects the low-Earth orbit satellite link parameters in real time as RSSI of -78dBm, link error rate of 9%, and time slot occupancy rate of 50%), it executes a dynamic conversion strategy of "error compensation + instruction remapping": First, a preset error compensation field is added to the uplink data frame, i.e., a 1-byte flag bit and a real-time error rate value are inserted, so that both the Android core board 130 and the low-Earth orbit satellite module 140 can identify the current link error level and drive their respective protocol stacks to enable matching. The system employs several strategies: First, it implements appropriate encoding enhancement and verification strategies (such as switching from QPSK to QAM-16 or enabling segmented verification). Second, it adjusts the frame length of uplink data frames to a second preset length (e.g., 384 bytes), shortening it by 50% compared to the original 768-byte frame length. This significantly reduces the transmission time and bit exposure window of a single frame, minimizing the impact of a single burst error. Third, it adjusts the command retransmission threshold to a first preset value (e.g., 5 times), setting a rigid upper limit for retransmission attempts. This avoids exhausting resources through infinite retries while ensuring sufficient error correction opportunities in moderate error environments. Finally, it dynamically models the command retransmission interval based on the link error rate: it calculates the product of the link error rate (expressed as a percentage, e.g., 9) and the second preset value (e.g., 50) (i.e., 9 × 50 = 450), and uses this product as the actual interval for this command retransmission. This linear model ensures that the retransmission interval lengthens as the bit error rate increases, providing a reasonable time window for channel recovery. This avoids repeated failures at short intervals while preventing delays in critical responses at long intervals. Simultaneously, error-prone commands (such as the link adjustment command AT+SATGAIN=) are mapped to a combination of "redundant command + check command." This means a redundant check segment is added after the core command, allowing the original command content to be recovered from errors. Furthermore, the command response timeout is dynamically adjusted from a fixed 1000ms to "real-time bit error rate × 100ms + 500ms," preventing command response timeouts due to bit errors and ensuring the reliability of the command mapping.

[0056] In addition, in this embodiment of the invention, for weak link signal scenarios (RSSI≤-90dBm, transmission delay≥80ms, channel load50%-70%), for example when the low-orbit satellite module 140 reports RSSI=-95dBm, transmission delay=85ms, and channel load=60%, the microcontroller 120 executes a lightweight adaptation strategy: redundant fields are removed from the protocol encapsulation format, simplifying it to AT+SATSHORT=

Simplified Data

Simplified Checksum

[0057] For downlink frame data (i.e., data sent from the LEO satellite module 140 to the Android core board 130), the LEO satellite module 140 receives the downlink frame data relayed by the LEO satellite through a wireless communication link. After modulation and demodulation and protocol parsing, it transmits the data to the microcontroller 120. The microcontroller 120 converts the LEO satellite communication protocol into a protocol that the Android core board 130 can recognize and transmits it to the Android core board 130. After receiving the data, the Android core board 130 parses the data and distributes it to the corresponding application according to the data type, while recording the data transmission information (transmission time, data volume).

[0058] Further, please refer to Figure 3 After the step of sending a preset initialization sequence to the low-Earth orbit satellite module 140, the low-Earth orbit satellite communication method further includes: S105, monitors the number of timeouts in the response of the low-orbit satellite module 140.

[0059] S106 If the number of response timeouts reaches the preset number, a reset command is sent to the low-Earth orbit satellite module 140 to enable the low-Earth orbit satellite module 140 to re-establish the satellite link.

[0060] Understandably, in this embodiment of the invention, after sending a preset initialization sequence (which includes multiple initialization instructions with strict timing and dependencies, such as configuring communication mode, baud rate, signal gain, Doppler frequency shift compensation parameters, etc.) to the low-Earth orbit satellite module 140, the microcontroller 120 performs two coordinated actions: First, it continuously monitors the number of response timeouts of the low-Earth orbit satellite module 140. The microcontroller 120 starts a timeout timer for each initialization instruction sent (for example, set to 1200 ms). If no response information in the required format (such as OK, ERRO` or specific parameter echo) is received within this time limit, it is determined as a response timeout, and the timeout count is accumulated. Second, when the number of response timeouts reaches a preset number (for example, 3 times), a reset instruction is immediately sent to the low-Earth orbit satellite module 140, forcing it to restart the underlying firmware, clear the exception register, and re-execute the entire startup process, thereby escaping the initialization deadlock caused by local state anomalies.

[0061] Please refer to Figure 4 The ground communication equipment provided in this embodiment of the invention also includes a power management module 150 and a status monitoring module 160.

[0062] The power management module 150 is connected to the Android core board 130, the low-orbit satellite module 140, the microcontroller 120, and the status monitoring module 160, respectively, to provide a stable operating voltage for each module. It includes a voltage conversion unit, a power consumption control unit, and a battery protection unit. The power consumption control unit can dynamically adjust the power supply of each module according to the communication status to achieve low power consumption operation.

[0063] The status monitoring module 160 is connected to the Android core board 130, the low-Earth orbit satellite module 140, and the microcontroller 120 respectively. It is used to monitor the working status of each module in real time (including the running status of the Android core board 130, whether the Android core board 130 has started normally, whether the serial port node has been read and written normally, and whether it communicates normally with the microcontroller 120; the working status of the microcontroller 120 includes whether its communication with the Android core board 130 and the low-Earth orbit satellite module 140 is normal, and the temperature, voltage, current, and working status of the low-Earth orbit satellite module 140, etc.). When a module fails, there are corresponding light and sound prompts, which ensures that the Android core board 130, the low-Earth orbit satellite module 140, and the microcontroller 120 work normally and plays a real-time monitoring role.

[0064] To perform the corresponding steps in the above embodiments and various possible methods, an implementation of a low-Earth orbit satellite communication device 200 is given below. Further, please refer to... Figure 5 , Figure 5This is a functional block diagram of a low-Earth orbit (LEO) satellite communication device 200 provided in an embodiment of the present invention. It should be noted that the LEO satellite communication device 200 provided in this embodiment has the same basic principle and technical effects as those in the above embodiments. For the sake of brevity, any parts not mentioned in this embodiment can be referred to the corresponding content in the above embodiments. The LEO satellite communication device 200 includes: The sending module 201 is used to send a preset initialization sequence to the low-Earth orbit satellite module when it receives the initialization start command sent by the Android core board, so that the low-Earth orbit satellite module can establish a satellite link; when the low-Earth orbit satellite module returns the link initial establishment information, it parses the initial link parameters from the link initial establishment information; and based on the initial link parameters, it sends a link adjustment command to the low-Earth orbit satellite module so that the low-Earth orbit satellite module can adjust the established satellite link.

[0065] The processing module 202 is used to adjust the data structure and transmission strategy of the uplink data frame sent by the Android core board to the low-Earth orbit satellite module according to the real-time parameters of the satellite link reported by the low-Earth orbit satellite module, so that the low-Earth orbit satellite module can send the adjusted uplink data frame to the low-Earth orbit satellite.

[0066] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory 110 shown can be used by Figure 1 The microcontroller 120 in the memory executes the commands. Meanwhile, the data and program code required to execute the above modules can be stored in the memory 110.

[0067] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0068] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0069] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion 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 this 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.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A low-Earth orbit satellite communication method, characterized in that, A microcontroller for use in terrestrial communication equipment, the terrestrial communication equipment further comprising an Android core board and a low-Earth orbit satellite module, wherein the microcontroller is electrically connected to both the Android core board and the low-Earth orbit satellite module, the method comprising: Upon receiving the initialization startup command sent by the Android core board, a preset initialization sequence is sent to the low-Earth orbit satellite module to enable the low-Earth orbit satellite module to establish a satellite link. When the low-orbit satellite module returns the initial link establishment information, the initial link parameters are parsed from the initial link establishment information; Based on the initial link parameters, a link adjustment command is sent to the low-Earth orbit satellite module to enable the low-Earth orbit satellite module to adjust the established satellite link. Based on the real-time parameters of the satellite link reported by the low-Earth orbit satellite module, the data structure and transmission strategy of the uplink data frames sent by the Android core board to the low-Earth orbit satellite module are adjusted so that the low-Earth orbit satellite module can send the adjusted uplink data frames to the low-Earth orbit satellite.

2. The low-Earth orbit satellite communication method as described in claim 1, characterized in that, The real-time parameters include link signal strength, transmission delay, channel load, time slot occupancy rate, and link bit error rate; the data structure includes encapsulation format and frame length; and the transmission strategy includes instruction mapping logic and retransmission strategy. The step of adjusting the data structure and transmission strategy of the uplink data frames sent by the Android core board to the low-Earth orbit satellite module based on the real-time parameters of the satellite link reported by the low-Earth orbit satellite module includes: If the link signal strength is less than the preset strength and the link bit error rate is greater than the preset bit error rate, then a preset double check field is added to the uplink data frame, the frame length of the uplink data frame is adjusted to the first preset length, and only the communication function instructions in the instruction mapping logic are retained. If the transmission delay is greater than the first preset delay, a preset delay compensation field is added to the header of the uplink data frame, and the frame interval time of the uplink data frame and the number of retransmissions, retransmission interval and retransmission priority of the control commands in the retransmission strategy are adjusted according to the transmission delay. If the channel load is greater than the first preset load and the time slot occupancy rate is greater than the preset occupancy rate, a preset priority field is added to the uplink data frame to divide the data in the uplink data frame into emergency location data and regular sensor data, and the instruction mapping logic is adjusted based on the transmission priority of the emergency location data and the regular sensor data. If the link error rate is greater than the preset error rate and the time slot occupancy rate is within the preset occupancy rate range, a preset error compensation field is added to the uplink data frame, the frame length of the uplink data frame is adjusted to a second preset length, and the instruction retransmission threshold and instruction retransmission interval in the retransmission strategy are adjusted according to the link error rate.

3. The low-Earth orbit satellite communication method as described in claim 2, characterized in that, The step of adjusting the frame interval time of the uplink data frame and the retransmission count, retransmission interval, and retransmission priority of the control commands in the retransmission strategy according to the transmission delay includes: The frame interval of the uplink data frame is adjusted to be the product of the transmission delay and a first preset multiple; Adjust the number of retransmissions of control commands in the retransmission strategy to a preset number; The retransmission interval of control commands in the retransmission strategy is adjusted to be the product of the transmission delay and a second preset multiple; the second preset multiple is greater than the first preset multiple. The retransmission priority of control commands in the retransmission strategy is adjusted to the highest level.

4. The low-Earth orbit satellite communication method as described in claim 2, characterized in that, The transmission priority of the emergency location data is higher than that of the regular sensor data. The step of adjusting the command mapping logic based on the transmission priorities of the emergency location data and the regular sensor data includes: Filter query commands for the conventional sensor data in the instruction mapping logic; In the instruction mapping logic, instructions targeting the emergency location data are merged into similar ones.

5. The low-Earth orbit satellite communication method as described in claim 2, characterized in that, The step of setting the instruction retransmission threshold and instruction retransmission interval in the retransmission strategy based on the link bit error rate includes: Adjust the instruction retransmission threshold to a first preset value; Calculate the product of the link error rate and the second preset value, and use the product as the instruction retransmission interval.

6. The low-Earth orbit satellite communication method as described in claim 1, characterized in that, The initial link parameters include initial link signal strength, initial transmission delay, initial channel load, initial time slot occupancy rate, and initial link bit error rate. The step of sending a link adjustment command to the low-Earth orbit satellite module based on the initial link parameters includes: Doppler frequency shift compensation parameters are determined based on the initial link signal strength, the initial transmission delay, the initial channel load, the initial time slot occupancy rate, and the initial link bit error rate. The Doppler frequency shift compensation parameters are packaged into the link adjustment command and sent to the low-Earth orbit satellite module so that the low-Earth orbit satellite module can adjust the transmission and reception frequency of the established satellite link.

7. The low-Earth orbit satellite communication method as described in claim 1, characterized in that, The preset initialization sequence includes multiple initialization commands. Each time the low-Earth orbit satellite module executes an initialization command, it must return a response message to the microcontroller. After the step of sending the preset initialization sequence to the low-Earth orbit satellite module, the method further includes: Monitor the number of response timeouts of the low-orbit satellite module; If the number of response timeouts reaches a preset number, a reset command is sent to the low-Earth orbit satellite module to enable the low-Earth orbit satellite module to re-establish the satellite link.

8. A low-Earth orbit satellite communication device, characterized in that, A microcontroller for use in terrestrial communication equipment, the terrestrial communication equipment further comprising an Android core board and a low-Earth orbit satellite module, the microcontroller being electrically connected to both the Android core board and the low-Earth orbit satellite module, the device comprising: The sending module is configured to send a preset initialization sequence to the low-Earth orbit satellite module when it receives an initialization start command from the Android core board, so that the low-Earth orbit satellite module can establish a satellite link; when the low-Earth orbit satellite module returns link initial establishment information, it parses the initial link parameters from the link initial establishment information; and based on the initial link parameters, it sends a link adjustment command to the low-Earth orbit satellite module, so that the low-Earth orbit satellite module can adjust the established satellite link. The processing module is used to adjust the data structure and transmission strategy of the uplink data frame sent by the Android core board to the low-Earth orbit satellite module according to the real-time parameters of the satellite link reported by the low-Earth orbit satellite module, so that the low-Earth orbit satellite module can send the adjusted uplink data frame to the low-Earth orbit satellite.

9. A terrestrial communication device, characterized in that, It includes a microcontroller and a memory, the memory storing machine-executable instructions that can be executed by the microcontroller to implement the low-Earth orbit satellite communication method according to any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the low-Earth orbit satellite communication method as described in any one of claims 1-7.

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