CN113507314A - Inter-satellite data transmission method - Google Patents
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Abstract
The invention provides an inter-satellite data transmission method, which comprises the following steps: the inter-satellite link is utilized to assist in unloading the feed data, and the satellite sends data to be unloaded to a ground satellite with the residual bandwidth through the inter-satellite link so as to utilize the feed bandwidth resource; an iterative algorithm CDD is developed to maximize system throughput and minimize data transmission delay according to a MFMC linear program with histogram constraints.
Description
Technical Field
The invention relates to the technical field of LEO satellites, in particular to an inter-satellite data transmission method.
Background
In recent years, broadband LEO satellite networks have attracted extensive attention at both academic and industrial levels. An important task of the satellite constellation is to act as a spatial router to store and forward user data to gateway stations. However, unlike the rich inter-satellite link (ISLs) resources in the space segment, the feeder link resources established by the satellite and the gateway station are limited, and become a bottleneck of the whole LEO satellite network capacity. Therefore, the full utilization of the feeder link resources is crucial to improving the throughput of the whole network.
Disclosure of Invention
The invention aims to provide an inter-satellite data transmission method to solve the problem that the existing feed link established by a satellite and a gateway station has limited resources and becomes the bottleneck of the whole LEO satellite network capacity.
In order to solve the above technical problem, the present invention provides an inter-satellite data transmission method, including:
the inter-satellite link is utilized to assist in unloading the feed data, and the satellite sends data to be unloaded to a ground satellite with the residual bandwidth through the inter-satellite link so as to utilize the feed bandwidth resource;
an iterative algorithm CDD is developed to maximize system throughput and minimize data transmission delay according to a MFMC linear program with histogram constraints.
Optionally, in the inter-satellite data transmission method, the method further includes:
the satellite network consists of N orbits, and each orbit comprises M satellites;
the LEO satellite network is represented by a graph G ═ V, E, where V represents a node set and E represents an ISLs link set, including inter-satellite links and feeder links;
establishing ISLs through a laser terminal on a satellite and a neighbor satellite;
by ai,jRepresenting a satellite viAnd vjInter-satellite link for communication through laser terminal, andi,j∈E；
keeping the ISLs in the rails all the time, temporarily disconnecting the ISLs between the rails in the polar region, and building a chain after leaving the polar region;
two satellites on adjacent orbits mutually exchange relative positions after passing through a polar region to form a distorted Manhattan network, and the upper half part of the distorted Manhattan network is rotated by 180 degrees;
the polar orbit LEO satellite network has a fixed two-dimensional Mash structure, and the dynamic property of the LEO satellite network is determined by that the inter-orbit ISLs are switched on and off due to polar regions and the error rate of a laser terminal is too high due to sunlight interference, so that a link cannot be established.
Optionally, in the inter-satellite data transmission method, the method further includes:
VESe, V represents a ground satellite set connected with the gateway station through a feeder link;
landing satellite viEstablishing a feeder link W with a gateway stationi；
Each satellite has 16 spot beams with fixed directions for communicating with users, and a feed link is established between the antenna and the gateway station ES;
a plurality of gateway stations are distributed globally, each gateway station has k antennas, and feed links are established with k satellites simultaneously;
the satellite downloads data to the gateway station in the sight line range of the gateway station ES, which is called a downloading time window; the satellite operating cycle is divided into time slots of equal size and length tau, and the time lines are denoted as 0,1 tau, 2 tau.
Optionally, in the inter-satellite data transmission method, the method further includes:
for an arbitrary link lnTotal capacity CnIs shown as
Wherein etan,
βnAnd WnRespectively representing the spectrum efficiency, the multipath gain, the frequency multiplexing coefficient and the bandwidth allocated by the link;
computing satellite viTotal capacity of feeder link Bi；
The instantaneous data transmission rate is denoted as rn＝ρnxnWhere ρ, xnPacket size and instantaneous traffic of the link (packet/sec), respectively;
at satellite viIn the absence of congestion or failure of all intersatellite links, i.e. in the event of congestion or failure 
The data transmission rate unloaded through the feeder link is
When l isi-Bi>At 0, it represents a satellite viAll data can not be unloaded to the gateway station, packet loss is generated, otherwise, the satellite v is indicatediThe feeder link bandwidth is still left as the feeder link data transmission rate bi＝li(ii) a Making full use of the feed resources
maxΣi|li-Bi| (3)
Optionally, in the inter-satellite data transmission method, the method further includes:
data packets of the same size are transmitted between all satellites and between the satellites and the gateway stations;
the amount of data that the satellite needs to transmit to the gateway station is expressed as the number of data packets, which is expressed in terms of the link rate;
each satellite is provided with 4 laser terminals to establish an inter-satellite link with 4 adjacent satellites in the same orbit and different orbits, and simultaneously, the satellite has a wireless signal transmitting and receiving terminal to establish a feed link with a gateway station, and the links work in a simplex mode;
data transmission of the inter-satellite link and the feeder link is error-free;
firstly, determining and obtaining flow transmission requirements, including a source and a destination for transmitting data to be unloaded to a gateway station through ISLs and a data transmission rate, and then calculating a forwarding path of a data packet between landing satellites according to the requirements.
Optionally, in the inter-satellite data transmission method, the method further includes:
Let
Representing a real number set, a traffic demand matrix
Each element D (i, j) represents the required data transmission rate between a pair of satellites, and then a link flow matrix is obtained by utilizing a maximum flow minimum cost algorithm and calculating according to the matrix
Wherein each element R (i, j) represents the data transmission rate after each intersatellite link route;
when each time slot n tau begins, updating parameters such as a network topological structure, link capacity of each satellite inter-satellite link and each feed link, instantaneous transmission rate and the like;
when in the above formulai-Bi<0, i.e. satellite viCapable of additionally receiving an offloaded data stream lIThe set of such satellites is VI(ii) a And according to the capacity of the inter-satellite link and the feed link of the satellite, the receivable data stream is calculated by the following formula;
when in the above formulai-Bi>0, i.e. satellite viCan require to unload the data stream l by ISLsOThe set of such satellites is VOAnd according to the inter-satellite link resource capacity of the satellite, calculating the data stream to be unloaded according to the following formula;
according to satellite set VOAnd VIEach satellite inOAnd lIThe magnitude of the numerical value corresponds two satellites in the set one by one according to the sequence of the numerical value from large to small, the two satellites are respectively used as the source and the destination of data transmission, and min (l) of the two satellites is usedO,lI) As the source The demanded traffic rate to destination D (i, j); thereby obtaining a traffic demand matrix D.
Optionally, in the inter-satellite data transmission method, the method further includes:
at the link cost of distance-bandwidth product (BD), allowing shorter paths to be planned for larger flows, minimizing transmission costs and preventing loops;
and carrying out subgraph constraint on the data stream in each pair of source and destination according to energy and computing resources, namely, carrying out linear programming on the data stream only in the corresponding subgraph so as to reduce the operation complexity.
Optionally, in the inter-satellite data transmission method, the method further includes:
in the satellite network topological graph G (V, E), the traffic demand matrix is obtained through the obtained
Computing subgraph G with distance constraintc(Vc,Ec)∈G(V,E)；
Calculating the shortest paths from all nodes in the landing satellite region to other nodes in the region by utilizing a Dijkstra shortest path algorithm, and initializing a group of candidate nodes and a candidate edge set to be NULL according to data streams in a source/destination pair (s, d);
traversing other intermediate nodes in the region, representing the hop count of the shortest path of (s, d) by M (s, d), and taking a proper hop count threshold HT;
if the intermediate node V meets the condition that M (s, V) + M (V, d) + M (s, d) + HT is less than or equal to M (s, d), adding the node V and four inter-satellite links thereof into a node set V of the subgraph cAnd edge set EcPerforming the following steps;
calculating subgraph G for each data streamcAnd then, performing linear programming on the maximum flow minimum cost routing algorithm.
Optionally, in the inter-satellite data transmission method, the method further includes:
and (3) carrying out data flow distance constraint on each pair of source/sink (s, d) to obtain a corresponding subgraph, wherein the maximum data flow linear programming problem of the multi-source and multi-sink under the limitation of the subgraph is represented as a formula (7):
Subject to:
wherein lc(e) Representing the traffic rate on edge e;
and bc(v) Representing the total flow rate and feeder link flow into and out of node v through the inter-satellite link, respectivelyA rate of measurement; dcRepresenting the corresponding request traffic in the traffic demand matrix; in the formula (7), (7.1) - (7.3) are constraints on link capacity; (7.4) - (7.6) are constraints on the flow balance in the network for each subgraph; (7.7) constraining each data stream not to exceed a required rate; the maximum flow from multiple sources to multiple purposes in the network can be obtained by solving the linear programming;
to achieve the minimum routing cost achievable, a second linear programming problem is shown as equation (8);
min:y* (8)
Subject to:
wherein gamma iscThe maximum flow, V ═ V-(s), representing the flow c obtained by solving a maximum flow linear programming problemc,dc)；
The rate of each flow is required to be fixed in formula (8) (8.1) and is obtained by formula (7); the remaining constraints are similar to the previous LP constraints;
The objective function is to make all data flow rates on each edge
And link cost M (e) product is minimal;
and solving the two linear programming problems by adopting a greedy algorithm to obtain the maximum flow minimum cost route in the network.
Optionally, in the inter-satellite data transmission method, the method further includes:
after more than one round of calculation is completed, updating iteration on the network topology, and accelerating convergence speed for reducing iteration rounds if V is greater than VISatellites in the set lI<α, then the satellite exits set VI(ii) a If VOSatellites in the set lOIf 0, the set V is exited as wellO(ii) a Residual VIAnd VOThe middle node repeats the calculation process until VOOr VIThe number of the middle nodes is 0, all data streams can be smoothly transmitted to the gateway station or the throughput of all the full feed resources reaches the maximum, and the iteration process is finished until the next time slot tau starts to run for the next round.
The inventor of the present invention finds, through research, that with the wide application of the internet and the rapid development of space-related technologies, an leo (low Earth orbit) satellite network has become an important component of a mobile communication network. In recent years, the application of satellite laser communication terminals enables inter-satellite links to have higher bandwidth, and the bandwidth of on-satellite resources becomes richer. However, user data needs to be transmitted to a ground core network through a gateway station after being forwarded by a space router carried by a satellite, the visible landing number of each gateway station is limited, the feeder links of the gateway station and the landing satellite still depend on wireless transmitting and receiving ends, the link bandwidth is low, the link bandwidth is susceptible to attenuation caused by the influences of the distance, the angle, the cloud layer thickness and the like of the satellite and the gateway station, and the feeder link resources of the landing satellite and the gateway station are deficient, so that the feeder link established by the landing satellite and the gateway station is extremely prone to become a bottleneck of the network capacity of the whole broadband LEO satellite.
The inventor of the present invention also finds that, due to the low and different bandwidths of the feeder link, when a data packet is transmitted from a landing satellite to a gateway station, a certain link bandwidth is occupied and other link bandwidths have much margin, so that precious feeder link bandwidths cannot be fully utilized.
Aiming at the problems, in order to realize the full utilization of the bandwidth resources of the feeder link and reduce the queuing delay of the data packet from the landing satellite to the gateway station, the invention provides a routing algorithm aiming at the data packet to be downloaded from the landing satellite to the gateway station, and the inter-satellite laser link between the landing satellites is used for carrying out data scheduling to assist data downlink transmission, thereby avoiding the delay increase or packet loss of the data packet caused by the accumulation of a large amount of data on the feeder link with insufficient bandwidth.
In addition, low-earth satellite networks have received much attention in recent years because of their lower latency and higher bandwidth. The dynamics and periodicity of low earth orbit satellite networks pose new challenges to the design of routing protocols. The inventor of the present invention has found through research that, in the prior art, the bottleneck of the current low-earth orbit satellite network capacity is not considered to be a feeder link, and the routing strategy of the space segment cannot effectively improve the throughput of the whole network. In addition, the prior art mainly focuses on remote sensing observation type data unloading, data packet production and arrival in the broadband low-orbit satellite have randomness, the network flow mode is more complex, and the requirement on end-to-end time delay is higher. The above work cannot accommodate these features.
Based on the above insights, the inventors concluded that: how to utilize the inter-satellite link between the landing satellites to help the data to be transmitted underground to the gateway station in real time is a very challenging problem. The main difficulties are as follows: (1) the feeder link bandwidth and the amount of data that needs to be downloaded per landing satellite are not consistent. Some ground satellites have large data volume but bandwidth is reduced due to attenuation caused by weather, link angle and other problems, but certain satellites with sufficient bandwidth need less data volume to be downloaded, so that an algorithm is required to be designed to plan data flow among the ground satellites to fully utilize feed bandwidth, and a source, a sink and a transmission path of data transmission are determined. (2) Because a large amount of data is concentrated in the area of the landing satellite, the inter-satellite link resources of the landing satellite are also very tight, and the factors such as the residual bandwidth and the link quality of the inter-satellite link must be comprehensively considered when the algorithm is designed to transmit the data stream between the landing satellites. (3) Due to the limited satellite computing resources, high requirements are put on the complexity and the real-time performance of the algorithm. In order to deal with the difficulties, the Collaborative Date Downloading algorithm (CDD algorithm for short) provided by the invention calculates a routing table according to the residual bandwidth of the terrestrial satellite feed, forwards the data packet to be downloaded from the terrestrial satellite with insufficient residual bandwidth of the feed link to other satellites with sufficient bandwidth, and then transmits the data packet to the gateway station from the satellites, so that the data packet can be more quickly transmitted to the gateway station through the feed link with higher bandwidth, and the network throughput is improved. And considering the shortage of computing and storage resources on the satellite, a hop count constraint is put forward to the algorithm to reduce the computing complexity.
In the inter-satellite data transmission method provided by the invention, a scheme for assisting the unloading of the feed data by using an inter-satellite link is provided, and the feed bandwidth resource is fully utilized by allowing the satellite to send the data to be unloaded to the ground satellite with the residual bandwidth through ISLs. The invention also proposes the MFMC linear programming problem with the sub-tree constraint and develops the iterative algorithm CDD to maximize the system throughput and minimize the data transmission delay. Simulation work is carried out through Systems Tool Kit (STK), and simulation results show that the proposed algorithm IACD is superior to the traditional Genetic algorithm in both throughput and time delay. The invention mainly researches data transmission between the landing satellites.
The invention provides a cooperation scheme among the feed links, and the data packets which cannot be successfully downloaded are routed to the proper satellite and then downloaded to the gateway station according to the bandwidth allowance of the satellite feed link and the inter-satellite link, so that the data unloading throughput is improved to the maximum extent. Considering the limited computing resources on the satellite, an iterative MFMC routing algorithm with hop count constraint is provided to solve the problems of data transmission and data downloading between satellites, the algorithm is solved by two Linear Programming (LP) problems, and both LPs can be solved in polynomial time.
Drawings
Fig. 1 is a schematic diagram of a polar LEO satellite network system according to an embodiment of the present invention;
FIG. 2 is a system model diagram of an inter-satellite data transmission method according to an embodiment of the invention;
FIG. 3 is a schematic diagram of data flow of inter-satellite links and feeder links of satellite nodes according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a multi-hop route in a LEO satellite network according to an inter-satellite data transmission method in an embodiment of the present invention;
FIG. 5 is a schematic diagram of network iteration of an inter-satellite data transmission method according to an embodiment of the invention;
fig. 6 is a schematic diagram of an inter-satellite data transmission method according to an embodiment of the invention;
FIG. 7 is a diagram illustrating throughput of different data loads of an inter-satellite data transmission method according to an embodiment of the present invention;
FIG. 8 is a schematic diagram illustrating end-to-end delays for different data loads of an inter-satellite data transmission method according to an embodiment of the present invention;
fig. 9 is a schematic diagram illustrating a ratio of end-to-end delay at 40% data load of the inter-satellite data transmission method according to an embodiment of the present invention;
fig. 10 is a schematic diagram of an end-to-end delay ratio under 120% data load of the inter-satellite data transmission method according to an embodiment of the present invention.
Detailed Description
The invention is further elucidated with reference to the drawings in conjunction with the detailed description.
It should be noted that the components in the figures may be exaggerated and not necessarily to scale for illustrative purposes. In the figures, identical or functionally identical components are provided with the same reference symbols.
In the present invention, "disposed on …", "disposed over …" and "disposed over …" do not exclude the presence of an intermediate therebetween, unless otherwise specified. Further, "disposed on or above …" merely indicates the relative positional relationship between two components, and may also be converted to "disposed below or below …" and vice versa in certain cases, such as after reversing the product direction.
In the present invention, the embodiments are only intended to illustrate the aspects of the present invention, and should not be construed as limiting.
In the present invention, the terms "a" and "an" do not exclude the presence of a plurality of elements, unless otherwise specified.
It is further noted herein that in embodiments of the present invention, only a portion of the components or assemblies may be shown for clarity and simplicity, but those of ordinary skill in the art will appreciate that, given the teachings of the present invention, required components or assemblies may be added as needed in a particular scenario. Furthermore, features from different embodiments of the invention may be combined with each other, unless otherwise indicated. For example, a feature of the second embodiment may be substituted for a corresponding or functionally equivalent or similar feature of the first embodiment, and the resulting embodiments are likewise within the scope of the disclosure or recitation of the present application.
It is also noted herein that, within the scope of the present invention, the terms "same", "equal", and the like do not mean that the two values are absolutely equal, but allow some reasonable error, that is, the terms also encompass "substantially the same", "substantially equal". By analogy, in the present invention, the terms "perpendicular", "parallel" and the like in the directions of the tables also cover the meanings of "substantially perpendicular", "substantially parallel".
The numbering of the steps of the methods of the present invention does not limit the order of execution of the steps of the methods. Unless specifically stated, the method steps may be performed in a different order.
The inter-satellite data transmission method proposed by the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The invention aims to provide an inter-satellite data transmission method to solve the problem that the existing feed link established by a satellite and a gateway station has limited resources and becomes the bottleneck of the whole LEO satellite network capacity.
In order to achieve the above object, the present invention provides an inter-satellite data transmission method, including: the inter-satellite link is utilized to assist in unloading the feed data, and the satellite sends data to be unloaded to a ground satellite with the residual bandwidth through the inter-satellite link so as to utilize the feed bandwidth resource; an iterative algorithm CDD is developed to maximize system throughput and minimize data transmission delay according to a MFMC linear program with histogram constraints.
The polar orbit constellation (or Walker constellation) mainly applied to ISLs in the research of the invention is shown in figure 1. The satellite network consists of N orbits, each containing M satellites. The LEO satellite network is represented by graph G ═ V, E, where V represents a set of nodes and E represents a set of ISLs links, including inter-satellite links and feeder links. And establishing ISLs through the laser terminal on the satellite and the neighbor satellite. By ai,jRepresenting a satellite viAnd vjInter-satellite link for communication through laser terminal, andi,j∈E。
the intra-track ISLs can be maintained all the time, but the inter-track ISLs in the polar region are temporarily disconnected, and the chain is established after leaving the polar region. The cost of building a link through a track gap is high because a track gap exists between adjacent tracks with opposite satellite motion directions, so the invention assumes that the track gap does not build a link. In addition, after two satellites in adjacent orbits pass through the polar region, their relative positions are exchanged to form a twisted manhattan network as shown in fig. 2, which is located at (a) on the left side of fig. 2, and the topology of the upper half part at (a) on the left side of fig. 2 is converted into a pattern at (b) on the right side of fig. 2 by rotating 180 degrees. The polar orbit LEO satellite network has a fixed two-dimensional Mash structure, and the dynamics of the LEO satellite network is mainly determined by the fact that inter-orbit ISLs are switched on and off due to polar regions and the error rate of a laser terminal is too high due to sunlight interference, so that a link cannot be established.
VESE.v represents the set of ground satellites that have established a connection with the gateway station via the feeder link. Landing satellite viFeeder link W that can be set up with a gateway stationi. Each satellite has 16 fixed-direction spot beams for communicating with users and establishes feeder links with the gateway stations ES via antennas. A plurality of gateway stations are distributed around the world, each gateway station is provided with k antennas, and therefore feed links can be established with k satellites at the same time. The satellite can only download data to the gateway station within the line of sight of the gateway station ES, referred to as a download time window. The user data received by each satellite in the network obeys a poisson distribution. Because the satellite moves with a period T, the topological structure of the LEO satellite network also changes periodically, and for the convenience of analysis, the satellite operation period is divided into time slots with the same size and length tau, so that the time line can be expressed as 0,1 tau, 2 tau.
For an arbitrary link lnTotal capacity CnCan be expressed as
Wherein etan,
βnAnd WnRespectively representing spectral efficiency, multipath gain, frequency reuse factor, and the bandwidth allocated for the link. Can calculate out satellite viTotal capacity of feeder link BiSince the inter-satellite link established by the laser terminal is attenuated by sunlight interference or other conditions, although the allocated bandwidths are the same, the total capacity L of the different inter-satellite links is the same i,jThe difference can be calculated by formula (1).
The instantaneous data transmission rate can be expressed as rn＝ρnxnWhere ρ, xnRespectively packet size and instantaneous traffic (packets/sec) of the link. The present invention assumes that all packets in the network are the same size. Satellite viCurrent feeder link instantaneous rate biAnd the instantaneous rate of the inter-satellite link for input and output data of port j (j ∈ 1,2,3,4)
And
can be calculated by equation (1) and any link lnThe instantaneous data transmission rate needs to satisfy rn<Cn。
To obtain a satellite viData transmission rate required to be transmitted to a gateway station, at satellite viIn the absence of congestion or failure of all intersatellite links, i.e. in the event of congestion or failure
The data transmission rate unloaded through the feeder link is
When l isi-Bi>At 0, it represents a satellite viThe failure to offload all data to the gateway station will result in packet loss, otherwise, the satellite v is said to be lostiThe feeder link bandwidth is still left as the feeder link data transmission rate bi＝li. The invention aims to increase the network throughput and fully utilize the feed resources, namely
maxΣi|li-Bi| (3)
The objective of the algorithm in the present invention is to maximize the sum of differences in equation (4). For ease of analysis, simplicity. The present invention makes the following assumptions:
data packets of the same size are transmitted between all satellites and between the satellites and the gateway stations; under this assumption, the amount of data that the satellite needs to transmit to the gateway station may be expressed as a number of data packets, which may be further expressed in terms of a link rate;
Each satellite is provided with 4 laser terminals to establish an inter-satellite link with 4 adjacent satellites in the same orbit and different orbits, and simultaneously, the satellite has a wireless signal transmitting and receiving terminal to establish a feed link with a gateway station, and the links work in a simplex mode; and
the data transmission of the intersatellite link and the feeder link is error-free.
Compared with a satellite network mainly unloading remote sensing detection data, the broadband low-orbit satellite network calculates the routing table of the data packet depending on the real-time residual bandwidth of the inter-satellite link, and the change of the data transmission rate of the inter-satellite link cannot be sensed in time, so that a large amount of packet loss and congestion are caused. In order to effectively utilize the inter-satellite link to assist the feeder link in unloading data, firstly, the traffic transmission requirements are determined, including the source and destination of data to be unloaded to the gateway station and the data transmission rate through the ISLs, and then the forwarding path of the data packet between the landing satellites is calculated according to the requirements.
Let
Representing a real number set, a traffic demand matrix
Each element D (i, j) represents the required data transmission rate between a pair of satellites, and then a link flow matrix is obtained by utilizing a maximum flow minimum cost algorithm and calculating according to the matrix 
Wherein each element R (i, j) represents the data transmission rate after each inter-satellite link route. At the beginning of each time slot n τ, the network topology is updated, as well as the link capacity, instantaneous transmission rate, etc. of each satellite inter-satellite link and feeder link, as shown in fig. 3, at (a) on the left side of fig. 3. The black arrows, red arrows and their values represent the satellite v, respectivelyiThe instantaneous data transmission rate of the incoming and outgoing data streams through the inter-satellite link and the data streams outgoing through the feeder link and the maximum capacity of the link.
When l in the formula (4)i-Bi<0, i.e. satellite viCan additionally receive an offload data stream lIThe set of such satellites is VI. And the receivable data stream can be calculated by equation (5) according to the inter-satellite link and feeder link capacities of the present satellite.
When l in the formula (5)i-Bi>0, i.e. satellite viCan require to unload the data stream l by ISLsOThe set of such satellites is VOAnd according to the inter-satellite link resource capacity of the satellite, the data stream to be unloaded can be calculated by the formula (6).
The input and output streams of the satellite node after a round of updating are respectively shown at the middle (b) of fig. 3 and the right side (c) of fig. 3. The invention is based on a satellite set VOAnd VIEach satellite inOAnd lIThe magnitude of the numerical value corresponds two satellites in the set one by one according to the sequence of the numerical value from large to small, the two satellites are respectively used as the source and the destination of data transmission, and min (l) of the two satellites is used O,lI) As the source to destination demand traffic rate D (i, j). Thereby obtaining a traffic demand matrix D.
In one embodiment of the present invention, the maximum flow minimum cost routing algorithm is shown in fig. 4, and the two minimum cost paths between (9,12) are P (9,8,7,12) and P (9,14,13,12), respectively, and are identified by the blue arrows and lines in fig. 4. The maximum flow allowed between (9,12) in fig. 4 includes four paths, the other, more costly, maximum flow paths being identified by black arrows and lines. The traditional multiple data stream maximum stream linear programming problem has the following 3 problems that 1. the probability of data transmission on a shorter or longer path is the same, so the transmission cost cannot be minimized; 2. this may result in loops due to the inability to minimize transmission costs; 3. the on-board computing resources are limited, and even the LPs problem in the limited network size is difficult to solve in time. The present invention is to solve the above problems, and firstly proposes to use distance bandwidth product (BD) as link cost, to allow planning shorter path for larger traffic, to minimize transmission cost, and to prevent loopback. And sub-graph constraint is carried out on the data stream in each pair of source and destination according to energy and computing resources, namely, linear programming on the data stream can be carried out only in the corresponding sub-graph, so that the operation complexity is greatly reduced. The subgraph constraint and two linear programming problems of maximum flow minimum cost will be described below.
In the satellite network topology G (V, E), the traffic demand matrix obtained by the method
The invention aims to calculate a subgraph G with distance constraintc(Vc,Ec) E.g. G (V, E). Firstly, computing shortest paths from all nodes in a ground satellite region (how the region is divided is not discussed in detail) to other nodes in the region by using a Dijkstra shortest path algorithm, and initializing a group of candidate nodes and a candidate edge set to be NULL by using a data stream in a source/destination pair (s, d). Then, the algorithm traverses other intermediate nodes in the region, represents the hop count of the shortest path of (s, d) by using M (s, d), and takes a proper hop count threshold value HT. If the intermediate node V meets the condition that M (s, V) + M (V, d) + M (s, d) + HT is less than or equal to M (s, d), adding the node V and four inter-satellite links thereof into a node set V of the subgraphcAnd edge set EcIn (1). Once subgraph G has been computed for each data streamcThen the maximum flow minimum cost routing algorithm can be linearly programmed.
By performing data flow distance constraint on each source/sink pair (s, d), a corresponding subgraph can be obtained, and the maximum data flow linear programming problem (LP #1) of multi-source and multi-sink under the limitation of the subgraph is represented as company (7):
Subject to:
wherein lc(e) Representing the traffic rate on edge e.
And bc(v) Representing the total flow rate of the node v into and out of the inter-satellite link and the feeder link flow rate, respectively. D cRepresenting the corresponding requested traffic in the traffic demand matrix. The constraints on link capacity are 7.1-7.3 in equation (7). 7.4-7.6 are constraints on the flow balance in the network for each subgraph. 7.7 constraint each data stream not to exceed the required rate. By solving for this linearityThe planning can obtain the maximum flow from multiple sources to multiple purposes in the network.
To achieve the minimum routing cost achievable, the second linear programming problem (LP #2) is as in equation (8).
min:y* (8)
Subject to:
Wherein gamma iscThe maximum flow, V ═ V-(s), representing the flow c obtained by solving a maximum flow linear programming problemc,dc). 8.1 in the above equation requires a fixed rate for each flow, obtained from LP # 1. The remaining constraints are similar to the previous LP constraints. The objective function of the present invention is to make all data flow rates on each edge
And the sum of the products of the link costs m (e) is minimal. The invention solves the two linear programming problems by adopting a greedy algorithm to obtain the path with the minimum cost of the maximum flow in the networkThus, the method comprises the following steps.
After completing one round of the previous calculations, several sections, an iteration of network topology update is required, as shown in fig. 5. To reduce the iteration turns and increase the convergence speed, if VISatellites in the set lI<α, then the satellite exits set VIAs in fig. 5, from a red node to a white node. If V OSatellites in the set lOIf 0, the set V is exited as wellOAnd the blue node is changed into a white node. Residual VIAnd VOThe middle node repeats the calculation process until VOOr VIThe number of the middle nodes is 0, namely all data streams can be smoothly transmitted to the gateway station or all the full throughput of the feed resources reaches the maximum, and the algorithm finishes the iterative process until the next time slot tau and then starts the running algorithm. The algorithm of the present algorithm flowchart is shown in fig. 6.
To verify the performance of the Intersatellite link acquired Collective Data Downloading (CDD) algorithm proposed by the present invention, the present invention uses the Systems Tool Kit (STK) developed by AGI company (Analytical Graphics, Inc.) for simulation. The present invention compares the differences in performance between the proposed IACD algorithm and the traditional Genetic algorithm.
In simulation experiments, the invention selects a representative Walker delta, Globalstar constellation. In the constellation, there are 8 orbital planes, each with 6 satellites, with an angular distance of 60 ° between the planes. Orbit period 6840 minutes, orbit tilt 52 °. The Globalstar satellite is provided with a laser terminal with the bandwidth of 10GHz for ISL communication, and a wireless terminal with the bandwidth of 1GHz for ES communication. Suppose the simulation begins at 12:00:00 at 27/6/2021 and then stops at 13:54:00UTC at 27/6/2021 at UTC time. ES is located in Shanghai city at 31:53 degrees latitude and 122:12 degrees longitude.
The present invention assumes that the amount of data received by the satellite from the user satisfies the poisson distribution (mu). First, in fig. 7 and 8, the present invention compares the throughput and delay of the proposed algorithm (CDD) and the generic algorithm from the total network load of 40% of the total ES feeder link capacity to the total network load of 120% of the total ES feeder link capacity step by changing the average poisson-distributed traffic, where the throughput is defined as the ratio of the actual data volume to the total data volume to be downloaded, and the end-to-end delay is defined as the time interval between the data packet being uploaded to the satellite network and the data packet being received from the ground-based gateway station from the ground-based satellite. In fig. 9 and 10, the present invention compares the delay profiles of the three algorithms at 40% and 120% network load, respectively. From the simulation results, it can be seen that:
1) and with the change of the traffic load, the throughput performance of the method keeps stable and all the traffic can be almost completely unloaded before the load reaches 100% (as shown in figure 6). The Genetic algorithm starts to degrade throughput as network load increases. This is because some feeder links still need to receive a large amount of traffic to be offloaded in case of bandwidth reduction caused by interference of the feeder links, thereby causing buffer overflow and packet loss. The algorithm of the invention uses the inter-satellite link to assist data unloading, thereby effectively improving the network throughput.
2) Even when the network load reaches 120% of the total capacity of the feeder link, the end-to-end average delay of the algorithm provided by the invention is still about 0.6s (as shown in FIG. 7). The mean delay of the Genetic algorithm reaches 0.9s, which means that a significant part of the packet delay will exceed its lifetime, resulting in packet loss. The Genetic algorithm delay increase is much larger when the network load exceeds 100%. This is more clearly seen from the delay profiles in fig. 8 and 9. Almost all the packet end-to-end delay in this algorithm is distributed between 0.1 and 0.3s when the network load is low, while most of the packet delay in this algorithm is still below 0.7s when the load is heavy (120%), whereas the Genetic algorithm has nearly 50% over 0.9s, respectively. This is because the large number of packets accumulated in the low bandwidth link results in a drastic increase in queuing delay, and the present algorithm will try to reduce the end-to-end delay of the packets by sending the data to be offloaded to the satellite with the larger feeder link bandwidth.
The invention considers a method for assisting the unloading of the feed data by utilizing an inter-satellite link, allows a satellite to send the data to be unloaded to a ground satellite with residual bandwidth through ISLs, and fully utilizes the feed bandwidth resource. The invention proposes a MFMC linear programming problem with a bitmap constraint and develops an iterative algorithm CDD to maximize system throughput and minimize data transmission delay. The simulation work of the invention is carried out by Systems Tool Kit (STK), and the simulation result shows that the algorithm CDD provided by the invention is superior to the traditional Genetic algorithm in both throughput and time delay. The invention mainly researches data transmission between the landing satellites.
In summary, the above embodiments have described the different configurations of the inter-satellite data transmission method in detail, and it is understood that the present invention includes, but is not limited to, the configurations listed in the above embodiments, and any modifications made on the configurations provided in the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (10)
1. An inter-satellite data transmission method, comprising:
the inter-satellite link is utilized to assist in unloading the feed data, and the satellite sends data to be unloaded to a ground satellite with the residual bandwidth through the inter-satellite link so as to utilize the feed bandwidth resource; and
An iterative algorithm CDD is developed to maximize system throughput and minimize data transmission delay according to a MFMC linear program with histogram constraints.
2. The method for inter-satellite data transmission according to claim 1, further comprising:
the satellite network consists of N orbits, and each orbit comprises M satellites;
the LEO satellite network is represented by graph G ═ V, E, where V represents a set of nodes and E represents a set of inter-satellite link links, including inter-satellite links and feeder links;
establishing an inter-satellite link through a laser terminal on a satellite and a neighbor satellite;
by ai,jRepresenting a satellite viAnd vjInter-satellite link for communication through laser terminal, andi,j∈E；
the inter-satellite link in the rail is always kept, the inter-satellite link in the polar region is temporarily disconnected, and a link is built after the inter-satellite link leaves the polar region;
two satellites on adjacent orbits mutually exchange relative positions after passing through a polar region to form a distorted Manhattan network, and the upper half part of the distorted Manhattan network is rotated by 180 degrees;
the polar orbit LEO satellite network has a fixed two-dimensional Mash structure, and the dynamic property of the LEO satellite network is determined by the fact that the inter-orbit inter-satellite link is switched on and off due to a polar region and the error rate of a laser terminal is too high due to sunlight interference, so that the link cannot be established.
3. The method for inter-satellite data transmission according to claim 2, further comprising:
VESe, V represents a ground satellite set connected with the gateway station through a feeder link;
landing satellite viEstablishing a feeder link W with a gateway stationi；
Each satellite has 16 spot beams with fixed directions for communicating with users, and a feed link is established between the antenna and the gateway station ES;
a plurality of gateway stations are distributed globally, each gateway station has k antennas, and feed links are established with k satellites simultaneously;
the satellite downloads data to the gateway station in the sight line range of the gateway station ES, which is called a downloading time window; the satellite operating cycle is divided into time slots of equal size and length tau, and the time lines are denoted as 0,1 tau, 2 tau.
4. The method for inter-satellite data transmission according to claim 3, further comprising:
for an arbitrary link lnTotal capacity CnIs shown as
Wherein etan,
βnAnd WnRespectively representing the spectrum efficiency, the multipath gain, the frequency multiplexing coefficient and the bandwidth allocated by the link;
computing satellite viTotal capacity of feeder link Bi；
The instantaneous data transmission rate is denoted as rn＝PnxnWhere ρ, xnPacket size and instantaneous traffic of the link (packet/sec), respectively;
at satellite viIn the absence of congestion or failure of all intersatellite links, i.e. in the event of congestion or failure 
The data transmission rate unloaded through the feeder link is
When l isi-Bi>At 0, it represents a satellite viAll data can not be unloaded to the gateway station, packet loss is generated, otherwise, the satellite v is indicatediThe feeder link bandwidth is still left as the feeder link data transmission rate bi＝li(ii) a Making full use of the feed resources
max∑i|li-Bi| (3)
5. The method for inter-satellite data transmission according to claim 4, further comprising:
data packets of the same size are transmitted between all satellites and between the satellites and the gateway stations;
the amount of data that the satellite needs to transmit to the gateway station is expressed as the number of data packets, which is expressed in terms of the link rate;
each satellite is provided with 4 laser terminals to establish an inter-satellite link with 4 adjacent satellites in the same orbit and different orbits, and simultaneously, the satellite has a wireless signal transmitting and receiving terminal to establish a feed link with a gateway station, and the links work in a simplex mode;
data transmission of the inter-satellite link and the feeder link is error-free;
firstly, determining and obtaining flow transmission requirements, including a source and a destination for transmitting data to be unloaded to a gateway station through an inter-satellite link and a data transmission rate, and then calculating a forwarding path of a data packet between landing satellites according to the requirements.
6. The method for inter-satellite data transmission according to claim 5, further comprising:
let
Representing a real number set, a traffic demand matrix
Each element D (i, j) represents the required data transmission rate between a pair of satellites, and then a link flow matrix is obtained by utilizing a maximum flow minimum cost algorithm and calculating according to the matrix
Wherein each element R (i, j) represents the data transmission rate after each intersatellite link route;
when each time slot n tau begins, updating parameters such as a network topological structure, link capacity of each satellite inter-satellite link and each feed link, instantaneous transmission rate and the like;
when in the above formulai-Bi<0, i.e. satellite viCapable of additionally receiving an offloaded data stream lIThe set of such satellites is VI(ii) a And according to the capacity of the inter-satellite link and the feed link of the satellite, the receivable data stream is calculated by the following formula;
when in the above formulai-Bi>0, i.e. satellite viData stream l can be unloaded through inter-satellite linkOThe set of such satellites is VOAnd according to the inter-satellite link resource capacity of the satellite, calculating the data stream to be unloaded according to the following formula;
according to satellite set VOAnd VIEach satellite inOAnd lIThe magnitude of the numerical value corresponds two satellites in the set one by one according to the sequence of the numerical value from large to small, the two satellites are respectively used as the source and the destination of data transmission, and min (l) of the two satellites is used O,lI) As the source-to-destination demand traffic rate D (i, j); thereby obtaining a traffic demand matrix D.
7. The method for inter-satellite data transmission according to claim 6, further comprising:
at the link cost of distance-bandwidth product (BD), allowing shorter paths to be planned for larger flows, minimizing transmission costs and preventing loops;
and carrying out subgraph constraint on the data stream in each pair of source and destination according to energy and computing resources, namely, carrying out linear programming on the data stream only in the corresponding subgraph so as to reduce the operation complexity.
8. The method for inter-satellite data transmission according to claim 7, further comprising:
in the satellite network topological graph G (V, E), the traffic demand matrix is obtained through the obtained
Computing subgraph G with distance constraintc(Vc,Ec)∈G(V,E)；
Calculating the shortest paths from all nodes in the landing satellite region to other nodes in the region by utilizing a Dijkstra shortest path algorithm, and initializing a group of candidate nodes and a candidate edge set to be NULL according to data streams in a source/destination pair (s, d);
traversing other intermediate nodes in the region, representing the hop count of the shortest path of (s, d) by M (s, d), and taking a proper hop count threshold HT;
if the intermediate node V meets the condition that M (s, V) + M (V, d) + M (s, d) + HT is less than or equal to M (s, d), adding the node V and four inter-satellite links thereof into a node set V of the subgraph cAnd edge set EcPerforming the following steps;
calculating subgraph G for each data streamcAnd then, performing linear programming on the maximum flow minimum cost routing algorithm.
9. The method for inter-satellite data transmission according to claim 8, further comprising:
and (3) carrying out data flow distance constraint on each pair of source/sink (s, d) to obtain a corresponding subgraph, wherein the maximum data flow linear programming problem of the multi-source and multi-sink under the limitation of the subgraph is represented as a formula (7):
Subject to:
wherein lc(e) Representing the traffic rate on edge e;
and bc(v) Respectively representing the total flow rate of the node v flowing in and out through the inter-satellite link and the flow rate of the feeder link; dcRepresenting the corresponding request traffic in the traffic demand matrix; in the formula (7)(7.1) - (7.3) are constraints on link capacity; (7.4) - (7.6) are constraints on the flow balance in the network for each subgraph; (7.7) constraining each data stream not to exceed a required rate; the maximum flow from multiple sources to multiple purposes in the network can be obtained by solving the linear programming;
to achieve the minimum routing cost achievable, a second linear programming problem is shown as equation (8);
min:y* (8)
Subject to:
wherein gamma iscThe maximum flow, V ═ V-(s), representing the flow c obtained by solving a maximum flow linear programming problemc,dc)；
The rate of each flow is required to be fixed in formula (8) (8.1) and is obtained by formula (7); the remaining constraints are similar to the previous LP constraints;
The objective function is to make all data flow rates on each edge
And link cost M (e) product is minimal;
and solving the two linear programming problems by adopting a greedy algorithm to obtain the maximum flow minimum cost route in the network.
10. The method for inter-satellite data transmission according to claim 9, further comprising:
after more than one round of calculation is completed, updating iteration on the network topology, and accelerating convergence speed for reducing iteration rounds if V is greater than VISatellites in the set lI<α, then the satellite exits set VI(ii) a If VOSatellites in the set lOIf 0, the set V is exited as wellO(ii) a Residual VIAnd VOThe middle node repeats the calculation process until VOOr VIThe number of the middle nodes is 0, all data streams can be smoothly transmitted to the gateway station or the throughput of all the full feed resources reaches the maximum, and the iteration process is finished until the next time slot tau starts to run for the next round.
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