I. Introduction
Existing networks, such as traditional core networks and the open random access networks (Open RAN), are deployed in the terrestrial regions. Therefore, current services and vertical commercial applications are realized in the ground networks. Take note that terrestrial and ground are used interchangeably in this paper. That is to say, these services and vertical applications belong to the two-dimensional (2D) type and are limited at low altitudes. Though existing satellite networks and aerial networks can provide 3D services and huge connectivity opportunities, these networks (terrestrial networks, aerial networks, satellite networks) have not been merged and run smoothly. In addition, service quality (e.g., end-to-end latency, service coverage) cannot be guaranteed. Consequently, 3D, seamless, open access and tailored services for large-scale commercial purposes and vertical applications cannot be well provided in existing traditional networks. However, these services are greatly requested and planned to come true in 2030 s. Based on current research situations, space-aerial-ground integrated networks (SAGIN) [1] are introduced in these years. Since SAGIN inception, they have been attracting extensive attention. Learning from released references and results [2], [3], SAGIN are the most crucial evolutionary direction and fundamental attribute of future networks, including 6G networks. As presented in Fig. 1, the structure of SAGIN is plotted. Within Fig. 1, SAGIN consist of three main layered networks (parts): satellite network part, aerial network part, and terrestrial network part. Within the satellite network part, three major types of satellite nodes are categorized, based on their heights above the ground. Three types of satellite nodes are geosynchronous orbit (GEO) satellite, medium earth orbit (MEO) satellite and low earth orbit (LEO) satellite, respectively. Within the aerial network part, multiple flying objects and platforms are included. These flying objects are the UAVs, balloons and so on. Following the classification criteria (different altitudes), two major types are included: high altitude platform (HAP), low altitude platform (LAP). Within the ground network part, traditional ground networks, such as traditional cellular networks, core networks and RAN [4], are involved.