Introduction
Although communication and networking technologies are developing rapidly, there is still a long way to go to connect any user at any time and any place. According to “World Internet Development Report 2017” published at the 4th World Internet Conference, the global Internet penetration rate was only 51.7 percent, which means that half of the population on Earth is still not connected to the Internet. For instance, in remote regions, the North and South Poles, and underdeveloped villages, it is difficult to provide telecommunication services by terrestrial networks due to the high construction costs. Moreover, for those special scenarios such as high-speed trains and planes, the quality of service (QoS) provided by terrestrial wireless communication networks is poor, due to high call drop rate caused by high mobility and frequent handover between the cells. In these cases, satellite communications have attracted a lot of attention, thanks to its good performance in various aspects such as abundant radio frequency resources, large coverage areas, long communication distance, fast deployment, and little interference from the ground network. Satellite communications have played an indispensable role in television broadcasting, long-distance communication, and disaster relief [1], [2]. Recently, the Third Generation Partnership Project (3GPP) standards group has been codifying the use of satellite communication networks so that the future space and terrestrial integrated communication network can be used to support fifth generation (5G) networks [3]. In order to meet the demanding 5G requirements in terms of both large throughput and global connectivity, satellite communications provide valuable resources to extend and complement terrestrial networks [4]–[6]. There is no doubt that satellite communications will usher in a new upsurge for the next generation of wireless communications.