CN109005108B - Space network route planning method and system - Google Patents
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Abstract
The invention provides a method and a system for planning a spatial network route, which comprises the following steps: acquiring space environment information based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model; based on the space environment information, generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model; the routing planning method has the advantages that algorithms such as spatial perception, artificial intelligence and the like are introduced, so that the routing planning method is more feasible in space, the defects of adaptability and flexibility of spatial routing are overcome, the intelligent level and the autonomous operation capability of the satellite and the space vehicle are improved, the artificial intelligence algorithm is introduced, a large amount of calculation time is saved, and the data processing speed is increased.
Description
The technical field is as follows:
the invention relates to the field of space networking and routing thereof, in particular to a method and a system for planning routing of a space network.
Background art:
routing in the space communication network is to find a path which can reach a destination address for information to be transmitted, ensure that data is effectively transmitted from a source address to one (or more) destination addresses, and is the basis and key for interconnection and intercommunication among different types of aircraft nodes. Generally, a routing algorithm of a space network is required to be simple and reliable, have strong stability, and can adapt to changes of network traffic and topology and the like. However, the space communication network has the characteristics of long propagation distance, prolonged transmission time or variable time delay, strong node mobility, intermittent disconnection of links, dynamic and variable network topology, poor communication quality, limited node energy and storage and the like, so that the space communication has a larger difference from ground communication in the aspects of nodes, links, networking and the like, and the traditional Intenret routing protocol cannot be directly applied to the space network.
Currently, many spatial communication network routing methods are proposed, such as a spatial virtualization routing policy, a temporal virtualization routing policy, a hierarchical routing policy, and a DTN routing policy. However, most of these routing strategies are in the theoretical and algorithmic research stage, and the processing capacity of the spacecraft platform is not fully combined in implementation, so that the actual requirements of the space network cannot be met.
The invention content is as follows:
in order to overcome the above drawbacks, the present invention provides a method for planning a spatial network route, the method comprising:
acquiring space environment information based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model;
and generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model based on the space environment information.
Preferably, the obtaining of the space environment information based on the spacecraft source node, the spacecraft target node and the pre-constructed space network environment autonomous perception model includes:
the space network environment autonomous perception model acquires nodes related to the spacecraft source nodes and/or the spacecraft target nodes, space environment information of the spacecraft source nodes, space environment information of the target nodes and space environment information of the related nodes according to the spacecraft source nodes and the spacecraft target nodes from pre-constructed space network environment and situation perception data and space network system operation rule priori knowledge.
Preferably, the acquiring spatial environment information further includes:
constructing a topological structure diagram of the space network based on the spacecraft source node space environment information, the target node space environment information and the related node space environment information;
and storing the information of the topological structure diagram of the space network into space network environment and situation awareness and network topological structure and dynamic space-time relation data.
Preferably, the generating a spatial routing scheme by using a pre-established spatial autonomous networking and routing planning model based on the spatial environment information includes:
based on the topological structure chart of the space network, the spacecraft source node, the spacecraft target node and the related nodes, obtaining all connection paths from the spacecraft source node to the spacecraft target node and generating a space routing planning table;
sorting based on the space route planning table according to a route selection criterion, selecting an optimal space route plan based on a sorting sequence, and generating a space route scheme;
when the generation of the routing scheme fails, reselecting the suboptimal spatial routing plan, generating the spatial routing scheme, and continuously checking whether the generation of the spatial routing scheme is successful or not until the generation of the routing scheme is successful;
the selection criterion comprises the following steps: the selection criterion is any one of minimum transmission delay of the satellite source address node and the satellite target address node, minimum passing intermediate node, minimum path comprehensive cost and maximum throughput.
Preferably, the building of the spatial network environment autonomous perception model includes:
acquiring spacecraft node data based on pre-constructed space network environment and situation perception data and space network system operation rule prior knowledge;
establishing inter-satellite links between the spacecraft nodes and other spacecraft nodes based on each spacecraft node data;
obtaining the space motion speed and the space position of the spacecraft through inter-satellite measurement based on the inter-satellite link of the spacecraft node;
predicting the orbit and motion situation of the spacecraft based on the space motion speed and the space position of the spacecraft;
based on the prediction result, obtaining the space network topological structure and the dynamic space-time relation state of the spacecraft node and other spacecraft nodes;
and constructing a space network environment autonomous perception model based on the space network topological structures and the dynamic space-time relation states of all spacecraft nodes.
Preferably, the spatial network environment and situation awareness data includes: the space position, the space motion speed and the space information of the space network spacecraft;
the priori knowledge of the operation rule of the space network system comprises the following steps: prior information of a space vehicle.
Preferably, the spacecraft comprises: satellites and aircraft.
A spatial network routing planning system, the system comprising:
the spatial information acquisition module: the method comprises the steps that space environment information is obtained based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model;
a route plan generation module: and the space routing module is used for generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model based on the space environment information.
Preferably, the method further comprises the following steps: a storage module;
the storage module is used for storing: the method comprises the following steps of (1) sensing data of the space network environment and situation, priori knowledge of the operation rule of a space network system and data of the topological structure and the dynamic space-time relationship of the space network;
the storage module includes: a spatial network environment and situation perception database, a spatial network system operation rule prior knowledge base and a spatial network topological structure and dynamic space-time relation database.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a space network routing planning method, which is based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model to obtain space environment information; based on the space environment information, generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model; the planning method introduces space perception and artificial intelligence, makes up the defects of adaptability and flexibility of space routing, and improves the intelligent level and autonomous operation capability of the spacecraft.
2. According to the routing planning method for the spatial network, provided by the invention, the change of the spatial network is detected and analyzed through the spatial network environment autonomous perception model and the spatial autonomous networking and routing planning model, and the network performance and the spatial feasibility of the algorithm are obviously improved.
3. According to the space network route planning method provided by the invention, one space route planning result is selected based on the space route planning table and actual requirements, so that the selection of the optimal route can be dynamically determined, and the route planning efficiency is improved.
Description of the drawings:
fig. 1 is a flowchart of a specific implementation method of the spatial network routing planning method of the present invention;
FIG. 2 is a block diagram of the composition and working process of the autonomous perception model of the spatial network environment according to the present invention;
fig. 3 is a block diagram of the composition and the working flow of the space autonomous networking and routing planning model of the present invention.
The specific implementation mode is as follows:
for better understanding of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.
Example 1:
the invention provides a routing method of a space communication network, which respectively establishes a space network environment autonomous perception model and a space autonomous networking and routing planning model and describes a core algorithm therein.
The technical scheme adopted by the invention is as follows: by means of inter-satellite communication and measurement, space situation perception is achieved, accurate space network dynamic topological structure and space node running state information are obtained, and on the basis, the on-satellite autonomous networking and routing planning are conducted by combining the priori knowledge stored on the satellite. As shown in fig. 1, the specific steps are as follows:
the method comprises the following steps: acquiring space environment information based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model;
fig. 2 shows the composition of the autonomic awareness model of the spatial network environment and its workflow block diagram. Firstly, under the action of a tracking and pointing algorithm and a link keeping and predicting algorithm, the establishment and the connection state of an inter-satellite link are maintained, which is the basis for inter-satellite measurement and information interaction; then, according to the existing data and prior information (a database and a knowledge base), determining a system of inter-satellite measurement and communication, switching or reconstructing an inter-satellite communication system, and completing the transceiving of inter-satellite measurement signals; and finally, performing on-board real-time processing on the received inter-satellite measurement signals and communication data by adopting a space geometric feature resolving algorithm, a space-based autonomous orbit determination algorithm and a space situation prediction algorithm to obtain a space network topology structure chart and a dynamic space-time relation chart, storing the space network topology structure chart and the dynamic space-time relation chart into a satellite-borne database, and providing input conditions for space route planning.
The spatial network environment autonomous perception process comprises the following steps: inter-satellite measurement and information interaction are realized by means of inter-satellite links, information of the space environment where the space network nodes are located is obtained through on-satellite real-time processing, a state diagram reflecting the space network topology structure and the dynamic space-time relationship is formed, and the space network environment and situation perception database and the network topology structure and dynamic space-time relationship database are updated.
Spatial multi-target measurement algorithm
In the model, the purpose of inter-satellite measurement is to obtain information such as inter-satellite distance and motion speed and spatial position of a satellite (or an aircraft), and spacecraft orbit prediction and motion situation estimation are performed on the basis, so that a space network topology structure and a space-time relation model can be established. The inter-satellite measurement system needs to be determined by comprehensively considering various factors such as the communication frequency band of the inter-satellite link, the equipment configuration condition of the inter-satellite communication system, the function and performance of the equipment, the working scene, the technical index requirements and the like. And a spatial multi-target measurement and communication mode autonomous selection algorithm is established, so that a spatial communication network system can automatically select a measurement and communication system according to different configuration conditions of the satellite, and the measurement flexibility is improved. In order to implement the algorithm, the inter-satellite link system is required to have the capability of supporting multi-user flexible access.
Space-based autonomous orbit determination algorithm
Establishing a precise orbit determination observation model, a dynamic model, an error model and an orbit integral model, realizing orbit state estimation by adopting a least square method, and forecasting the orbit by adopting Kalman filtering. In consideration of the real-time requirement of on-satellite solution, the constraint of satellite resource limitation and the like, the method adopts a method equation superposition mode to realize the autonomous orbit determination algorithm, and has the advantages of saving a large amount of calculation time, reducing the storage capacity of a computer and accelerating the data processing speed.
Step two: based on the space environment information, generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model;
fig. 3 is a block diagram of the components and the working process of the space autonomous networking and routing planning model. Firstly, generating an available node set for supporting routing planning by adopting a networking node generation algorithm according to information such as a current spatial network topological structure and dynamic relation obtained from a situation awareness model, and storing the available node set in a dynamic database; then, the spatial nodes select routing nodes in the networking node set according to respective routing table generation algorithms and form routing tables; and finally, sequencing the multiple selectable route plans or paths according to the optimized route selection algorithm and the optimal route selection criterion, and selecting the optimal route for output. In addition, when the network routing fails, a networking and routing reconstruction algorithm can be started, routing planning is carried out again, and a new optimal path is generated.
The space autonomous networking and routing planning process comprises the following steps: on the basis of the known dynamic topological structure of the spatial information network and the state information of the spatial nodes, the spatial networking is carried out by utilizing an intelligent information processing technology combining numerical calculation, information fusion and logic reasoning and utilizing a mixed decision support mode combining a model base, a database and a knowledge base, and finally a spatial routing table is generated.
Networking node set generation algorithm
The purpose of spatial networking is to select a spatial available node supporting routing planning and generate a spatial networking node set, wherein the most important is to determine a networking node selection principle and a networking algorithm. And establishing a networking node set generation algorithm, and quantitatively describing the selection principle in a variable factor mode. In the process of selecting and designing the variable factors, multiple factors such as the overall connectivity of a network, the number of links between satellites, link holding time, link communication delay, potential risks (congestion, interference and the like) of the links, space-time availability of nodes, node switching speed, node performance and the like need to be considered, and each variable factor is given a certain weight according to the influence degree of each factor on the selection of the networking nodes. And performing fusion processing on the multivariable factors to serve as a final node selection basis.
Spatial routing table generation algorithm
The routing calculation cost of the connection-oriented satellite network is high, and the satellite is difficult to realize, so that a routing algorithm oriented to no connection is adopted. And (3) adopting a distributed routing planning mode, independently calculating a next hop node for each data packet by each node in the space according to the state of the adjacent node in the current networking node set and the logic position identification of the target node, transmitting the data packet along the direction, realizing the hop-by-hop forwarding of the packet on the satellite, and repeating the process until the target node. The constellation topology is converted into a plurality of discrete static topologies by pre-calculating the topology snapshots, and a corresponding routing table is calculated for each topology snapshot, so that the influence caused by the topology dynamics of the satellite network can be solved.
Based on the topology structure diagram of the space network, the spacecraft source node, the spacecraft target node and the related nodes, obtaining all connection paths from the spacecraft source node to the spacecraft target node and generating a space routing plan table, including:
obtaining the position of the next available space node based on the topological structure diagram of the space network and the spacecraft source node until reaching the spacecraft target node, generating a space networking node set based on the obtained available space node, and forming a connecting path by the sets;
all connection paths can be obtained based on all relevant nodes;
converting the spatial network topological structure of each node into a static topological structure based on a topology snapshot calculation mode;
based on the space networking node set and the static topological structure
Optimal routing algorithm
The routing algorithm measures the quality of the path by using a quantized parameter, wherein the parameter can be obtained by calculating a certain characteristic of the path or calculating the parameter on the basis of synthesizing a plurality of path characteristics or key factors. The optimal routing criteria are mainly as follows: the transmission time delay between the source node and the destination node is minimum; the number of intermediate nodes is least; the path comprehensive cost is minimum; throughput is the largest, and the like, which criterion is used for routing often determines the final routing result. The space node can dynamically determine the selection criterion of the optimal route according to different application scenes, service requirements, environmental conditions and other factors.
Networking and routing reconstruction algorithm
The networking and routing reconstruction algorithm relates to the design problems of a series of reconstruction judgment criteria such as judgment basis of whether a route is reconstructed, selection basis of reconstruction levels and layers, judgment standard of retransmission and path reselection and the like. In the reconstruction process, the reason of routing failure needs to be analyzed, a suboptimal path is selected according to a routing table, and when the route is serious, the step one needs to be executed again, the change of the external space environment is sensed, and routing planning is carried out again on the basis to generate a new optimal path.
Example 2
Based on the same conception, the invention also provides a system for planning the autonomous route of the spatial network, which comprises:
the spatial information acquisition module: the method comprises the steps that space environment information is obtained based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model;
a route plan generation module: and the space routing module is used for generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model based on the space environment information.
Wherein still include: a storage module;
the storage module is used for storing: the method comprises the following steps of (1) sensing data of the space network environment and situation, priori knowledge of the operation rule of a space network system and data of the topological structure and the dynamic space-time relationship of the space network;
the memory module includes: a spatial network environment and situation perception data table, a spatial network system operation rule prior knowledge table and a spatial network topological structure and dynamic space-time relation data.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and block diagrams of methods, systems, and computer program products according to embodiments of the application. It will be understood that each flow and block of the flow diagrams and block diagrams, and combinations of flows and blocks in the flow diagrams and block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and block diagram block or blocks.
The present invention is not limited to the above embodiments, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the scope of the claims of the present invention which are filed as the application.
Claims (7)
1. A method for planning a spatial network route, the method comprising:
acquiring space environment information based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model;
based on the space environment information, generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model;
the acquiring of the space environment information based on the spacecraft source node, the spacecraft target node and the pre-constructed space network environment autonomous perception model comprises the following steps:
the space network environment autonomous perception model acquires nodes related to the spacecraft source nodes and/or the spacecraft target nodes, space environment information of the spacecraft source nodes, space environment information of the target nodes and space environment information of the related nodes according to the spacecraft source nodes and the spacecraft target nodes from pre-constructed space network environment and situation perception data and space network system operation rule priori knowledge.
2. The spatial network routing method of claim 1, wherein the obtaining spatial environment information further comprises:
constructing a topological structure diagram of a space network based on the spacecraft source node space environment information, the target node space environment information and the related node space environment information;
and storing the information of the topological structure diagram of the space network into space network environment and situation awareness and network topological structure and dynamic space-time relation data.
3. The spatial network routing planning method according to claim 2, wherein the generating a spatial routing scheme using a pre-established spatial autonomous networking and routing planning model based on the spatial environment information includes:
based on the topological structure chart of the space network, the spacecraft source node, the spacecraft target node and the related nodes, obtaining all connection paths from the spacecraft source node to the spacecraft target node and generating a space routing planning table;
sorting based on the space route planning table according to a route selection criterion, selecting an optimal space route plan based on a sorting sequence, and generating a space route scheme;
when the generation of the routing scheme fails, reselecting the suboptimal spatial routing plan, generating the spatial routing scheme, and continuously checking whether the generation of the spatial routing scheme is successful or not until the generation of the routing scheme is successful;
the selection criterion comprises the following steps: the selection criterion of the minimum transmission time delay of the satellite source address node and the satellite target address node, the minimum passing intermediate node, the minimum path comprehensive cost and the maximum throughput is selected.
4. The spatial network routing planning method of claim 1, wherein the building of the spatial network environment autonomous awareness model comprises:
acquiring spacecraft node data based on pre-constructed space network environment and situation perception data and space network system operation rule prior knowledge;
establishing inter-satellite links between the spacecraft nodes and other spacecraft nodes based on each spacecraft node data;
obtaining the space motion speed and the space position of the spacecraft through inter-satellite measurement based on the inter-satellite link of the spacecraft node;
predicting the orbit and motion situation of the spacecraft based on the space motion speed and the space position of the spacecraft;
based on the prediction result, obtaining the space network topological structure and the dynamic space-time relation state of the spacecraft node and other spacecraft nodes;
and constructing a space network environment autonomous perception model based on the space network topological structures and the dynamic space-time relation states of all spacecraft nodes.
5. The spatial network routing method of claim 1, wherein the spatial network context and situational awareness data comprises: the space position, the space motion speed and the space information of the space network spacecraft;
the priori knowledge of the operation rule of the space network system comprises the following steps: prior information of a space vehicle.
6. The space network routing method of claim 1, wherein the spacecraft comprises: satellites and aircraft.
7. A spatial network route planning system for use in the spatial network route planning method according to any one of claims 1 to 6, the system comprising:
the spatial information acquisition module: the method comprises the steps that space environment information is obtained based on a spacecraft source node, a spacecraft target node and a pre-constructed space network environment autonomous perception model;
a route plan generation module: the system comprises a space routing scheme generation module, a routing planning module and a routing module, wherein the space routing scheme generation module is used for generating a space routing scheme by adopting a pre-established space autonomous networking and routing planning model based on the space environment information;
further comprising: a storage module;
the storage module is used for storing: the method comprises the following steps of (1) sensing data of the space network environment and situation, priori knowledge of the operation rule of a space network system and data of the topological structure and the dynamic space-time relationship of the space network;
the storage module includes: a spatial network environment and situation perception database, a spatial network system operation rule prior knowledge base and a spatial network topological structure and dynamic space-time relation database.
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| CN109922513B (en) * | 2019-03-06 | 2020-08-18 | 上海交通大学 | OLSR routing method and system based on mobile prediction and time delay prediction |
| CN110161861B (en) * | 2019-05-30 | 2022-05-27 | 上海航天测控通信研究所 | Aircraft ad hoc network routing decision method and device based on fuzzy neural network |
| CN112865852B (en) * | 2019-11-28 | 2022-04-01 | 清华大学 | Routing method and routing equipment for network layer addressing based on spatial position information |
| CN111061617B (en) * | 2019-12-06 | 2023-10-20 | 中国电子科技集团公司第五十四研究所 | Space-based network networking simulation test system based on cloud computing |
| CN112261681B (en) * | 2020-10-10 | 2022-04-01 | 北京航空航天大学 | Low earth orbit satellite DTN network routing path selection method and system |
| CN112764428B (en) * | 2021-01-08 | 2022-07-19 | 中国科学院空间应用工程与技术中心 | Spacecraft cluster reconstruction method and system |
| CN114051273B (en) * | 2021-11-08 | 2023-10-13 | 南京大学 | Large-scale network dynamic self-adaptive path planning method based on deep learning |
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