Internet DRAFT - draft-lai-bmwg-istn-transport
draft-lai-bmwg-istn-transport
Benchmarking Methodology Working Group Z. Lai
Internet-Draft Tsinghua University
Intended status: Informational Q. Zhang
Expires: 25 April 2024 Zhongguancun Laboratory
H. Li
Q. Wu
J. Li
Tsinghua University
23 October 2023
Benchmarking Methodology for Reliable Transport Protocols in Integrated
Space and Terrestrial Networks
draft-lai-bmwg-istn-transport-00
Abstract
This document defines the terminology and methodology for conducting
performance benchmarking of the transport protocols for low-earth
orbit satellite user terminals within emerging integrated space and
terrestrial networks (ISTN). It encompasses the test environment
setup and benchmarking tests.
The objective of this document is to enhance the applicability,
repeatability, and transparency of performance benchmarking for
transport protocols in ISTN.
Status of This Memo
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Copyright Notice
Copyright (c) 2023 IETF Trust and the persons identified as the
document authors. All rights reserved.
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Table of Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Requirements Language and Scope . . . . . . . . . . . . . . . 3
3. ISTN Architecture . . . . . . . . . . . . . . . . . . . . . . 4
3.1. Space Segment . . . . . . . . . . . . . . . . . . . . . . 5
3.2. Terrestrial Segment . . . . . . . . . . . . . . . . . . . 6
3.3. End-to-end Network Characteristics of ISTNs . . . . . . . 6
3.3.1. Long-term and burst packet loss . . . . . . . . . . . 6
3.3.2. Low delay floor, but with high jitter . . . . . . . . 7
4. Test Setup . . . . . . . . . . . . . . . . . . . . . . . . . 7
4.1. Testbed Configuration . . . . . . . . . . . . . . . . . . 7
4.2. DUT Configuration . . . . . . . . . . . . . . . . . . . . 8
4.3. Testbed Configuration . . . . . . . . . . . . . . . . . . 8
4.4. Testbed Considerations . . . . . . . . . . . . . . . . . 9
5. Benchmarking Tests . . . . . . . . . . . . . . . . . . . . . 9
5.1. Throughput . . . . . . . . . . . . . . . . . . . . . . . 10
5.2. Round-Trip Time (RTT) . . . . . . . . . . . . . . . . . . 10
5.3. Transfer Efficiency . . . . . . . . . . . . . . . . . . . 10
5.4. Buffer Delay Percentage . . . . . . . . . . . . . . . . . 10
6. Acknowledgements . . . . . . . . . . . . . . . . . . . . . . 11
7. IANA Considerations . . . . . . . . . . . . . . . . . . . . . 11
8. Security Considerations . . . . . . . . . . . . . . . . . . . 11
9. References . . . . . . . . . . . . . . . . . . . . . . . . . 11
9.1. Normative References . . . . . . . . . . . . . . . . . . 11
9.2. Informative References . . . . . . . . . . . . . . . . . 13
Authors' Addresses . . . . . . . . . . . . . . . . . . . . . . . 13
1. Introduction
The history of using communication satellites to provide Internet
services can date back several decades and has evolved significantly
over time. Users in remote and rural areas where deploying
terrestrial infrastructure is impractical or cost-prohibitive can
leverage satellites to access Internet services such as Web browsing,
IP-based telephony and videoconferencing. Since most today's
Internet services are built upon reliable transport protocols (e.g.
TCP), and satellite networks have many unique characteristics that
are different from traditional terrestrial networks, guaranteeing the
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network performance of reliable transport protocols over satellite
networks should be important for both satellite operators and
Internet content providers.
The IETF has a number of previous efforts on recommending test
methodologies [RFC6349] and suggesting performance enhancement
strategies [RFC0346] [RFC0357] [RFC2488] [RFC2760] [RFC8975] for
reliable transport protols over various satellite networks. Thanks
to the recent technological revolution, both satellite systems and
transport protocols have evolved significantly. On one hand,
satellite networks have evolved from the traditional use of
geostationary orbit satellite to transparently forward data, to a new
form of providing low-latency Internet services through a network of
massive low-earth orbit (LEO) satellites (i.e. a constellation).
Such LEO satellite networks can further be integrated into
terrestrial Internet, constructing an integrated space and
terrestrial network (ISTN). On the other hand, powered by a range of
new features, new transport protocols such as the QUIC protocol
[RFC9000] are designed to improve the speed, security, and
reliability of end-to-end Internet communication. In such an
ecosystem with growing importance, well-defined benchmarking
methodology and terminology are increasingly needed to support
reasonable benchmarking and generate improvement guidelines for
transport protocols in emerging ISTNs.
To this end, this document describes a practical methodology for
benchmarking several important aspects of TCP and QUIC in ISTNs.
Specifically, we introduce the methodology to build a laboratory-
level test environment simulating a real ISTN environment, and
describe key considerations of benchmarking tests for measuring the
performance of transport protocols.
2. Requirements Language and Scope
The key words "MUST", "MUST NOT", "REQUIRED", "SHALL", "SHALL NOT",
"SHOULD", "SHOULD NOT", "RECOMMENDED", "MAY", and "OPTIONAL" in this
document are to be interpreted as described in RFC 2119 [RFC2119].
This document uses the following acronyms and terminologies:
Mega-constellation: A group of networked satellites working as a
system.
LEO: Low Earth Orbit with an altitude no more than 2000 km.
GEO: Geostationary Earth Orbit with an altitude of about 35786 km.
ISTN: Integrated Satellite and Terrestrial Network.
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ISL: Inter-satellite Links.
GSL: Ground-satellite Links.
GS: Ground Station.
QUIC: Quick UDP Internet Connections.
This document provides testing terminology and testing methodology
for reliable transport layer protocols in emerging ISTNs. This
document focuses on advanced, realistic, and reproducible
benchmarking methods. It describes the methodology for constructing
a testbed environment which can mimic the network behaviors of large-
scale ISTNs and illustrate benchmarking tests for assessing several
major aspects of transport protocols.
3. ISTN Architecture
The first generation of satellite networks leverages communication
satellite in Geosynchronous Earth Orbit (GEO) to provide network
services. In this architecture, GEO satellites are positioned at a
very high altitude, approximately 35,786 kilometers (22,236 miles)
above the earth's equator. This altitude allows GEO satellites to
maintain a fixed position relative to the earth's surface. Thus, GEO
satellites can provide a wide and continuous coverage area. In
particular, a single GEO satellite can cover approximately one-third
of the earth's surface, making them suitable for providing global
coverage with a limited number of satellites. However, the high
altitude of GEO satellites can also introduce a significant
propagation latency in space-ground communication because signals
have to travel a long distance to reach the satellite and return back
to the earth. Such a high latency can be noticeable in real-time
applications like interactive online gaming or video conferencing.
More recently, ''NewSpace'' companies, such as SpaceX and OneWeb, are
actively deploying their mega-constellations with thousands of
broadband satellites in low earth orbit (LEO) to provide Internet
service globally. LEO satellites orbit at much lower altitudes,
typically ranging from about 180 to 2,000 kilometers (from 112 to
1,242 miles) above the earth's surface. Therefore, LEO satellites
have a smaller coverage area compared to GEO satellites. This is why
satellite operators have to deploy large constellations of LEO
satellites that work together to provide global coverage. One key
benefit of LEO satellite networks is that they offer much lower
latency because the distance signals need to travel is significantly
shorter. This makes them suitable for real-time applications like
online gaming and video conferencing.
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Broadband satellite mega-constellations can be integrated into the
terrestrial Internet through ground-satellite links and further
construct an integrated space and terrestrial network (ISTN), which
typically contains two core components as follows.
3.1. Space Segment
ISLs +---------+ +---------+ +---------+ ISLs +----+----+
-------------|Satellite|--------|Satellite|----------|Satellite|-------- ... | Internet|
+----+----+ +-----+---+ +----+----+ | |
/ / \ +----+----+
/ / \ |
/ / \ |
+----+----+ +----+----+ +----+----+ +----+----+
| User | | User | | Ground | |Point-of |
| Terminal| | Terminal| | Station | --- --- |Presence |
+---------+ +----+----+ +---------+ +----+----+
Figure 1: Emerging ISTN architecture.
Emerging satellites can be equipped with high-speed inter-satellite
links (ISLs) and ground-satellite links (GSLs) for inter-satellite
and ground-satellite networking. Figure 1 plots a typical ISTN
architecture, which integrates communication satellites and today's
terrestrial Internet. Futuristic ISTN is expected to provide
pervasive, lowlatency Internet services for various users such as
residential, direct-phone-to-satellite, maritime, and airplane users
etc. In this architecture, satellites fundamentally perform two core
functions. On one hand, satellites work as ''space routers'' to
build an ''Internet backbone in space''[Internet-backbones-in-space]
and forward network traffic between any two satellites or ground
nodes in the network. On the other hand, satellites also work as
''access points'' to provide last-mile connectivity for land-based
users.
Unlike existing terrestrial networks which typically have a flat and
static structure, the network topology of an ISTN is three-
dimensional and dynamic, as it includes multi-layer satellites, and
these satellites in non-geostationary orbits are moving at a high
velocity related to the earth's surface. In addition, the ISTN
topology is also predictable, since satellites move in their pre-
planned orbits with predictable trajectories. The position of each
satellite can be tracked by terrestrial observation stations and
published regularly. Many details of connectivity patterns can be
deduced from the Federal Communications Commission (FCC) requests and
real-world measurements, making the ISTN topology likely to be public
or at least estimable.
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3.2. Terrestrial Segment
The terrestrial segment of an ISTN, including a number of geo-
distributed ground stations and point-of-presence (PoP) connecting to
the Internet, plays a crucial role. Ground stations serve as the
interface between the satellites and the terrestrial network,
facilitating the transmission of data to and from the satellite
constellation. In addition, the terrestrial segment takes care of
many other necessary functionalities such as tracking and control,
telemetry and commanding, and network management. When a user
terminal accesses Internet services (e.g.,a Web servive) through the
ISTN, the user's request is first forwarded to a ground station
through one (i.e., via bent-pipe transparent forwarding) or multiple
satellites (i.e., via ISL-based space routing) and then to a Point-
of-presence (PoP) of the Internet, and finally to the destination.
3.3. End-to-end Network Characteristics of ISTNs
The unique LEO dynamics and error-prone satellite communication links
involve several important network characteristics for end-to-end
transmission in ISTNs.
3.3.1. Long-term and burst packet loss
Firstly, the high LEO dynamics can lead to frequent ground-satellite
handovers during which ground devices have to change their ingress
satellite and suffer from link disruptions. Recent reports have
shown severe packet loss rate during such handovers. Besides,
satellites will change their operational orbits to avoid collisions,
resulting in inter-satellite links churns and packet losses.
Secondly, since ISTNs are operated in an open space environment, they
are susceptible to various types of interference, such as space rays
and artificial interference which can significantly affect the
quality of inter-satellite communication. As for satellite-ground
links, bad weather and obstructed view will also cause the link
quality decline. For example, heavy rain will affect the signal
transmission and unthoughtful placement of the satellite terminal can
cause the satellite signal to be blocked by other objects (e.g.,
dense leaves) during transmission, resulting in packet loss.
Collectively, frequent handovers caused by LEO dynamics and collision
avoidance and signal attenuation or blocking will lead to ethernal
packet loss. Besides, current reports have revealed high packet loss
rate in ISTNs, especially during the ground-satellite handovers.
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3.3.2. Low delay floor, but with high jitter
ISTNs are expected to provide low-delay Internet service for global
users. Firstly, free-space laser inter-satellite links can provide
faster data transmission speed than terrestrial fibers. Secondly, a
large number of evenly distributed satellites can provide near-space-
optimal route, outperforming circuitous terrestrial fiber routes for
long-haul transmission[Internet-backbones-in-space]. However, to
cope with packet losses, current widely used sender-based
retransmission requires persistent loss detection and recovery.
Therefore, in an environment with ethernal and burst packet loss,
frequent and persistent sender-based recovery significantly increases
the end-to-end delay jitter. Higher delay jitter will affect the
performance of delay-sensitive applications (e.g., WebRTC), which
further results in an increase in user-perceived end-to-end delay and
can not unleash the low-delay potential of ISTNs.
4. Test Setup
The test setup defined in this section applies to all benchmarking
tests described in Section 5. The test setup MUST be contained
within an isolated test environment (see Section 3 of [RFC6815]).
4.1. Testbed Configuration
Testbed configuration is expected to create an isolated benchmarking
environment that appropriately simulates the unique characteristics
of ISTN as mentioned in Section 3.
A data-driven way to building a testbed for ISTN was proposed in
[draft-lai-bmwg-sic-benchmarking], emulating each network node in
ISTN with a container and adjusting the links' characteristics with
real data. However, it's aiming at the general environment
simulation rather than network layer or transport layer benchmarking
and is still requesting for comments. It is an OPTIONAL choice for
testbed setup.
To enhance applicability and repeatability of the benchmarking
methodology, this document specifies a more concrete testbed setup
given in Figure 2. It is the RECOMMENDED testbed setup. The two
ends of the transport protocols (DUTs) are respectively connected to
the user terminal and the gateway. Except the DUTs, other equipments
are all routers utilized to simulate ISTN nodes. Two ingress/egress
satellites were setup for each teresstrial end to simulate their
handover between the LEO Satellites. The handover simulation and
links' setup will be specified in Section 4.3 .
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Terrestrial Space
<---Segment----> <-----------Segment---------->
<-------------------------------------------------------+
|
+---+ +--------+ +-------------+ +------+ |
| | | +--USL 1-+Ingress Sat 1+-ISL 1--+ | |
| | | User | +--^----------+ | | |
|DUT+-+ | | handover | | |
| | |Terminal| +--v----------+ | | |
| | | +--USL 2-+Ingress Sat 2+-ISL 2--+ | |
+---+ +--------+ +-------------+ |Relay | |
| | |
|Sat(s)| |
+---+ +--------+ +-------------+ | | |
| | | +--GSL 1-+ Egress Sat 1+-ISL 3--+ | |
| | | | +--^----------+ | | |
|DUT+-+Gateway | | handover | | |
| | | | +--v----------+ | | |
| | | +--GSL 2-+ Egress Sat 2+-ISL 4--+ | |
+---+ +--------+ +-------------+ +------+ |
|
<------------Network Path Under Test--------------------+
Figure 2: Testbed Setup.
4.2. DUT Configuration
Generally, the DUTs could be configured with any reliable transport
protocols, like TCP and QUIC. As the DUT is supposed to be designed
for / applied to unique ISTN environment, their critical parameters
(e.g. the congestion control strategy) SHOULD be reported in the
result and stay the same throughout the benchmarking process.
4.3. Testbed Configuration
Handover simulation. The links between terrestrial segment and space
segment experience frequent handovers, e.g., each user terminal of
Starlink, an operational ISTN network, handovers to another satellite
every 15 seconds. Two ingress satellites are setup for the user
terminal to simulated the handover behaviours. At each time, only
one group of ingress satellite and its corresponding links (e.g., USL
1 and ISL 1 for Ingress Sat 1) are activated, through which the user
terminal connects to the relay satellite(s). When handover occurs,
the another (un-activated) group of ingress satellite and its
corresponding links are activated. The handover between two egress
satellites and their corresponding links are likewise. The handover
of user terminal and the gateway don't necessarily occour at the same
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time.
Link loss rate. As aforementioned, the USLs and GSLs experience
ethernal and burst packet losses, due to environmental attenuation
and frequent losses. Their packet loss rate SHOULD be set
dynamically according to real measurement. No known models are now
available for loss rate setup of USLs and GSLs. Other links SHOULD
be setup with no link loss.
Link latency. The latency of space segment route could be setup with
two halves, on the two activated ISLs of the Relay Sat. The latency
of all the links SHOULD be set dynamically according to links'
changing length.
Link bandwidth. The bottleneck link is RECOMMENDED to be the USL and
setup with (at least) 50Mbps, 100Mbps, 200Mbps, 500Mbps. Test with
other bottleneck bandwidth COULD be reported in the result. Other
links MUST be setup with bandwidth greater than the bottleneck
bandwidth and be reported in the result.
Terminal type. User terminals are typically classified into two
types, (1) Residential and (2) In-motion. They generally experience
different link losses and latencies. Benchmarking under both types
is RECOMMENDED and reported.
4.4. Testbed Considerations
The following considerations SHOULD be verifed ahead of all the
benchmarking tests. If not, the reason MUST be noted in the report.
(1) Link performance verification. The link bandwidth, loss rate and
latency should be verified for each link with no end-to-end traffic.
The average result of each link under each terminal type.
(2) Steady testbed. As [RFC9411] describes, Several factors might
influence stability, specifically for virtualized testbeds.
5. Benchmarking Tests
Testing framework for TCP throughput was proposed in [RFC6349], this
document adopts the following tests from [RFC6349] for transport
protocol benchamrking in ISTN. This document adpated them to the
ISTN environment, and extends to QUIC where necessary.
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5.1. Throughput
Several common tools for throughput measurement are readily available
in the network community, e.g. "iperf" for TCP and "qperf" for QUIC.
With the tools installed at each end of the network path, one acting
as a client and the other as a server, the achieved throughput can
then be measured, either uni-directionally or bi-directionally. The
parameters like Send Socket Buffer of both client and server can be
manually set, referring to [RFC6349].
However, for the ISTN environment, this document recommends that the
throughput test SHOULD be run over a relatively longer duration
(i.e., greater than 3 mins or 180 seconds) to improve the
repeatability.
Throughput under each terminal type SHOULD be reported.
5.2. Round-Trip Time (RTT)
As [RFC6349], RTT is defined as the elapsed time between the clocking
in of the first bit of a TCP segment / QUIC Packet sent and the
receipt of the last bit of the corresponding Acknowledgment.
The RTT of each TCP segment / QUIC Packet SHOULD be recorded for the
calculation of the aftermentioned buffer delay metric. The average
and each quartile value of the RTT records SHOULD be reported.
5.3. Transfer Efficiency
Transfer efficiency represents the percentage of Bytes that were not
retransmitted. The TCP Efficiency defined in [RFC6349] applies to
transfer efficiency for both TCP and QUIC here.
Transmitted Bytes - Retransmitted Bytes
Transfer Efficiency % = --------------------------------------- X 100
Transmitted Bytes
Transmitted Bytes are the total number of Bytes to be transmitted,
including the original and the retransmitted Bytes. See [RFC6349]
for calculation examples.
Transfer Efficiency SHOULD be reported for each test.
5.4. Buffer Delay Percentage
Buffer Delay Percentage represents the increase in RTT during a TCP
Throughput test versus the inherent or baseline RTT [RFC6349].
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As the baseline RTT [RFC6349] also changes in ISTN, this document
suggests calculating Buffer Delay Percentage at each second and the
average value throughout each test SHOULD be reported.
Specifically, for each second (t), the Buffer Delay Percentage is
calculated as follows:
Average RTT during t - Baseline RTT (t)
Buffer Delay % (t)= ------------------------------------------ X 100
Baseline RTT(t)
6. Acknowledgements
7. IANA Considerations
This document makes no specifc request of IANA.
IANA has assigned IPv4 and IPv6 address blocks in[RFC6890] that have
been registered for special purposes. The IPv6 address block
2001:2::/48 has been allocated for the purpose of IPv6 benchmarking
[RFC5180], and the IPv4 address block 198.18.0.0/15 has been
allocated for the purpose of IPv4 benchmarking [RFC2544]. This
assignment was made to minimize the chance of confict in case a
testing device were to be accidentally connected to the part of the
Internet. The testbed setup in this document SHOULD adopt this
assignment.
8. Security Considerations
Benchmarking activities as described in this memo are limited to
technology characterization using controlled devices in a laboratory
environment, with dedicated address space and the constraints
specified in the sections above. The benchmarking network topology
as well as its parameter configurations will be an independent test
setup, and the laboratory environment MUST NOT be connected to
devices that may forward the test traffic into a production network,
or misroute traffic to the test management network.
In addition, benchmarking is performed on a "black-box" basis,
relying solely on measurements observable external to the DUT/SUT.
Special capabilities SHOULD NOT exist in the DUT/SUT specifically for
benchmarking purposes. Any implications for network security arising
from the DUT/SUT SHOULD be identical in the lab and in production
networks.
9. References
9.1. Normative References
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[RFC0346] Postel, J., "Satellite Considerations", RFC 346,
DOI 10.17487/RFC0346, May 1972,
<https://www.rfc-editor.org/info/rfc346>.
[RFC0357] Davidson, J., "Echoing strategy for satellite links",
RFC 357, DOI 10.17487/RFC0357, June 1972,
<https://www.rfc-editor.org/info/rfc357>.
[RFC2119] Bradner, S., "Key words for use in RFCs to Indicate
Requirement Levels", BCP 14, RFC 2119,
DOI 10.17487/RFC2119, March 1997,
<https://www.rfc-editor.org/info/rfc2119>.
[RFC2488] Allman, M., Glover, D., and L. Sanchez, "Enhancing TCP
Over Satellite Channels using Standard Mechanisms",
BCP 28, RFC 2488, DOI 10.17487/RFC2488, January 1999,
<https://www.rfc-editor.org/info/rfc2488>.
[RFC2544] Bradner, S. and J. McQuaid, "Benchmarking Methodology for
Network Interconnect Devices", RFC 2544,
DOI 10.17487/RFC2544, March 1999,
<https://www.rfc-editor.org/info/rfc2544>.
[RFC2760] Allman, M., Ed., Dawkins, S., Glover, D., Griner, J.,
Tran, D., Henderson, T., Heidemann, J., Touch, J., Kruse,
H., Ostermann, S., Scott, K., and J. Semke, "Ongoing TCP
Research Related to Satellites", RFC 2760,
DOI 10.17487/RFC2760, February 2000,
<https://www.rfc-editor.org/info/rfc2760>.
[RFC5180] Popoviciu, C., Hamza, A., Van de Velde, G., and D.
Dugatkin, "IPv6 Benchmarking Methodology for Network
Interconnect Devices", RFC 5180, DOI 10.17487/RFC5180, May
2008, <https://www.rfc-editor.org/info/rfc5180>.
[RFC6349] Constantine, B., Forget, G., Geib, R., and R. Schrage,
"Framework for TCP Throughput Testing", RFC 6349,
DOI 10.17487/RFC6349, August 2011,
<https://www.rfc-editor.org/info/rfc6349>.
[RFC6815] Bradner, S., Dubray, K., McQuaid, J., and A. Morton,
"Applicability Statement for RFC 2544: Use on Production
Networks Considered Harmful", RFC 6815,
DOI 10.17487/RFC6815, November 2012,
<https://www.rfc-editor.org/info/rfc6815>.
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[RFC6890] Cotton, M., Vegoda, L., Bonica, R., Ed., and B. Haberman,
"Special-Purpose IP Address Registries", BCP 153,
RFC 6890, DOI 10.17487/RFC6890, April 2013,
<https://www.rfc-editor.org/info/rfc6890>.
[RFC8975] Kuhn, N., Ed. and E. Lochin, Ed., "Network Coding for
Satellite Systems", RFC 8975, DOI 10.17487/RFC8975,
January 2021, <https://www.rfc-editor.org/info/rfc8975>.
[RFC9000] Iyengar, J., Ed. and M. Thomson, Ed., "QUIC: A UDP-Based
Multiplexed and Secure Transport", RFC 9000,
DOI 10.17487/RFC9000, May 2021,
<https://www.rfc-editor.org/info/rfc9000>.
[RFC9411] Balarajah, B., Rossenhoevel, C., and B. Monkman,
"Benchmarking Methodology for Network Security Device
Performance", RFC 9411, DOI 10.17487/RFC9411, March 2023,
<https://www.rfc-editor.org/info/rfc9411>.
9.2. Informative References
[draft-lai-bmwg-sic-benchmarking]
"[I.D.] Considerations for Benchmarking Network
Performance in Satellite Internet Constellations.", 2023,
<https://datatracker.ietf.org/doc/draft-lai-bmwg-sic-
benchmarking/>.
[Internet-backbones-in-space]
"Internet backbones in space.", 2020,
<https://dl.acm.org/doi/abs/10.1145/3390251.3390256>.
Authors' Addresses
Zeqi Lai
Tsinghua University
30 ShuangQing Ave
Beijing
100089
China
Email: zeqilai@tsinghua.edu.cn
Qi Zhang
Zhongguancun Laboratory
Beijing
China
Email: zhangqi@zgclab.edu.cn
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Internet-Draft Benchmarking Transport in ISTN October 2023
Hewu Li
Tsinghua University
30 ShuangQing Ave
Beijing
100089
China
Email: lihewu@cernet.edu.cn
Qian Wu
Tsinghua University
30 ShuangQing Ave
Beijing
100089
China
Email: wuqian@cernet.edu.cn
Jihao Li
Tsinghua University
30 ShuangQing Ave
Beijing
100089
China
Email: lijh19@mails.tsinghua.edu.cn
Lai, et al. Expires 25 April 2024 [Page 14]