Introduction
The integration of satellite and terrestrial networks has long been regarded as a promising approach for ubiquitous Internet access and multimedia service delivery [1]. However, constrained by technical and economic bottlenecks at that time, satellite communications were first applied to a number of specific fields such as emergency rescue and space exploration [2]. In recent years, with new advanced technologies emerging, satellites can provide high data throughput and serve as an important complement to terrestrial networks, especially in the upcoming 5G era [3]–[5].