Navigational constellation slow varying inter-satellite link planning method based on earth station layout constraints

The invention provides a navigational constellation slow varying inter-satellite link planning method based on earth station layout constraints. First of all, a satellite-earth link visible model and an inter-satellite visible model are constructed, then inter-satellite/satellite-earth visible time slot preprocessing is carried out, after the topology structure of a constellation is established, a router optimized constraint model and an optimization object function are determined, and a router table of a navigational constellation slow varying inter-satellite link is obtained through solving the model. According to the invention, the problem of managing a global navigational constellation through the slow varying inter-satellite link under the condition of a scarcity of ground measurement and control resources is solved, the model better meets engineering needs, the application value is quite good, and a new router can be rapidly established at a minimum cost in case that nodes are changed.