CN106371091A - ADS-B and secondary surveillance radar monitoring information data integration method and device - Google Patents
ADS-B and secondary surveillance radar monitoring information data integration method and device Download PDFInfo
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- CN106371091A CN106371091A CN201610715074.2A CN201610715074A CN106371091A CN 106371091 A CN106371091 A CN 106371091A CN 201610715074 A CN201610715074 A CN 201610715074A CN 106371091 A CN106371091 A CN 106371091A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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Abstract
The invention relates to the track processing technology, in particularly, to an ADS-B and secondary surveillance radar monitoring information data integration method and device. With the object of solving the problems in the prior art, a data integration method and device are provided so as to realize the integrated tracking processing of ADS-B surveillance information and the secondary surveillance radar information, to make the tacking keep a constantly updated state and to ensure the continuity and the correctness of surveillance. The method comprises the following steps: converting the coordinates of different types of tracking information into a unified station-centered orthorhombic coordinate system; through the interpolation method or the extrapolation method, achieving time and space alignment and sending the processed point tracking information to a pre-processing point tracking line; from the pre-processing point tracking line, reading the point tracking information and using the local optimal proximity algorithm to have the determined tracking in the tracking line and the tentative tracking correlated; and finally, according to the tracking in the tracking line, performing extrapolation of tracking or removing the missing targets or the tentative track from the processing tracking line so as to maintain and protect the tracking.
Description
Technical field
The present invention relates to flight path processing technology, especially a kind of ads-b and secondary radar monitor the data fusion side of information
Method and device.
Background technology
The basic goal of air traffic control be enable aircraft on course line safely, effectively with planned in spatial domain
Flight.Controller needs the aircraft in control zone is dynamically monitored in real time.
At present, all typically adopt secondary radar (secondary surveillance radar, ssr) system pair both at home and abroad
Aircraft is dynamically monitored in real time.And ssr system has a lot of limitation in itself: the straightline propagation of radar beam defines greatly
The radar shadown of amount；Ocean and Desert Area cannot be covered；It is slow that the swing circle frequency of radar lowly leads to data to update, from
And limit the raising monitoring precision；The data such as planned course and the situation of aircraft cannot be obtained, limit carrying of tracking accuracy
The high ability with short term collision alert (short time conflict alert, stca), ssr system is due to the defect of itself
The requirement of current air traffic control system can not be met, so needing to develop new adviser tool.
Automatic dependent surveillance broadcast (automatic dependent surveillance broadcast, ads-b)
System is exactly this new adviser tool.It not only overcomes the weak point of some supervision means such as conventional radar, Er Qieben
Body has that high precision, renewal frequency be fast, applied range, supervision property is strong in real time, equipment build simply, maintenance cost low excellent
Gesture.Radar cover region, Automatic dependent surveillance broadcast system using the main supplement as radar surveillance, in mountain area, famine
The region that desert, outlying field etc. should not build radar can be also suitable for high density airport as main supervision means
Monitor.But if being only used ads-b as the means of supervision, once navigation system goes wrong, the funeral of function for monitoring will be led to
Lose, and significant wastage is caused to built air traffic control radar net resource.Therefore, many radar surveillances and ads-b supervision will be in phases
When coexisting in the long time.
Because ssr system and ads-b system dynamically monitor data in real time to aircraft, using the different update cycles, no
Same coordinate system, in order to give full play to the advantages of two kinds of supervision information, needs to monitor information optimization fusions by two kinds, is formed steady
Fixed, reliable, real-time system flight path, it is ensured that the reliability of the information of supervision and precision, realizes the reality to periphery spatial domain traffic conditions
When control.Track Fusion is one of major issue needing and solving.
Content of the invention
The technical problem to be solved is: for prior art exist problem, provide a kind of ads-b with secondary
The data fusion method of radar surveillance information and device.As shown from the above technical solution, the present invention passes through flight path pretreatment, flight path
Initial/association, Track In Track filtering, flight path are safeguarded, it is possible to achieve ads-b monitors that information and secondary radar monitor the flight path of information
Fusion treatment, and make flight path keep the state of real-time update, to ensure the seriality and the correctness that monitor.
The technical solution used in the present invention is as follows:
The data fusion method that a kind of ads-b monitors information with secondary radar includes:
Step 1: flight path pretreatment, initially set up pretreatment point mark queue team head；Then the different types of point that will receive
The Coordinate Conversion of mark information is in unified station heart rectangular coordinate system；Target unification to be processed will be needed by interpolation or extrapolation
To on same time point, realize time alignment, the point mark information after processing is sent to pretreatment point mark queue；
Step 2: track initiation association:, read point mark information from pretreatment point mark queue, then faced using local optimum
Nearly algorithm is associated with the determination flight path/tentative flight path in flight path queue, if not associating, using One-step delay track initiation
Algorithm, carries out track initiation, sets up new flight path；If in association, carry out Track In Track filtering；
Step 3: Track In Track filtering: Track In Track filter is carried out using the Kalman filtering algorithm based on current statistical model
Ripple.
Step 4: flight path safeguards, that is, timing safeguards flight path, carries out flight path according to rule to the flight path in flight path queue
Extrapolation or rejecting process missing object and tentative flight path in flight path queue.
Further, described step 1 specifically includes:
Step 11: judge it is that ads-b monitors information or secondary radar according to flag bit in the point mark information receiving first
Supervision information；If ads-b monitors information, the geodetic coordinates that ads-b is monitored information is transformed into current location for the station heart
Under station center right-angle coordinate in horizon system, execution step 12；Otherwise, then the point mark information receiving should be that secondary radar monitors information,
Under the polar coordinate that secondary radar is monitored information are transformed into current location for the station center right-angle coordinate in horizon system of the heart of standing, execute step
Rapid 13；According to the flight path update cycle t of the time tag in a mark information and default, carry out time alignment；t1<t2<
t3<t4；T4-t1=t；T scope is 4-10s；T3-t2=t2-t1=1s；
Step 12: judge the situation of the time tag in point mark information and current time system time difference, if difference is big
In t1 and be less than t2, then extrapolated, a mark information be extrapolated on current time system time, and send this mark information to
Pretreatment point mark queue, if difference is more than t2 and is less than t3, will put mark message interpolation to current time system using interpolation
On time, and it is sent to pretreatment point mark queue；If difference is more than t3 and is less than t4, abandon this mark；
Step 13: judge the situation of the time tag in point mark information and current time system time difference, if difference is little
In t2, then extrapolated, a mark information is extrapolated on current time system time, and be sent to pretreatment point mark queue, if
More than t2, mark message interpolation will be put on current time system time using interpolation, and be sent to pretreatment point mark queue.
Further, described step 2 implements process and includes:
Step 21: initialization points mark queue pointer 1, make it point to team's head of pending mark queue；Judge pointer 1 whether
For sky, if so, illustrate also do not have pending mark to need to process, process time delay 10ms to 15ms, the arrival of holding point mark；If no
For sky, then the point mark that reading pointer 1 points to；
Step 22: initialization flight path queue pointer 2, make it point to team's head of flight path queue；Judge whether pointer 2 is empty；
If so, illustrate also there is no Track forming, the point mark of pointer 1 indication is added flight path queue, same time point as new tentative flight path
Mark queue pointer 1 Jia 1, reads next point mark, continues flight path processing；If it is not, the flight path that reading pointer 2 points to；
Step 23: according to step 21 and step 22, judge whether this flight path is tentative flight path, if so, execution step 24；If
It is not, execution step 26.
Step 24: judge this flight path whether only one of which point, if it is, carrying out using One-step delay Track initialization algorithm
Track initiation, execution step 25；Otherwise, Dian Ji queue pointer 1 Jia 1, continues to read point mark, execution step 22；
Step 25: if on point mark and this track association, update flight path information, and this tentative flight path is changed to determine boat
Mark.If not being, it is associated with the next flight path of flight path queue, execution step 23.
Step 26: judge some marks whether with this track association on, if in association, carrying out Track In Track filtering, if not closing
On connection, this mark is done new tentative flight path and adds in flight path queue.
Further, the described Kalman filter based on current statistical model carries out Track In Track filtering specifically
Process:
Step 31: according to current statistical model setup parameter, make maneuvering frequency α=0.01, update cycle t=4-10s.Shape
State transfer matrixObserving matrix h (k)=[1 0 0], point mark information was seen as the kth moment
Survey data input, flight path information is filtered as -1 moment of kth estimated data；
Step 32: state x (k | k-1) in the status predication kth moment according to kth -1 moment；
System prediction error p (k | k-1) in the system prediction error estimation kth moment according to kth -1 moment；
Step 33: calculate the gain kg of Kalman filter；
Step 34: computing system maximum likelihood estimate x (k | k)；
Step 35: system prediction error p (k | k) of computing system current time.
Step 36: using maximum likelihood estimate x (k | k), update corresponding flight path information.
Further, described step 4 specifically includes:
Step 41: initialization flight path pointer is so as to point to first flight path of flight path queue；
Step 42: judge whether flight path queue pointer is empty, if so, explanation does not have flight path or reaches flight path tail of the queue, process
Postpone 10ms；If it is not, reading the flight path information pointed by flight path queue pointer, execution step 43；
Step 43: judge whether the flight path that flight path queue pointer points to is to determine flight path, and if so, execution step 44, if not
It is, execution step 45；
Step 44: the extrapolation flight path number judging this flight path, whether more than extrapolation thresholding, if so, illustrates that flight path has disappeared,
Send flight path disappearance report, and delete from flight path queue, flight path queue pointer points to next flight path, execution step 42 simultaneously；
If it is not, comparison system current time updates time, execution step 46 with flight path；
Step 45: comparison system current time updates the time with flight path, judges that whether flight path updates the time less than renewal week
Phase；If so, illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If
It is not to illustrate that flight path is false target, delete from flight path queue, flight path queue pointer points to next flight path, execution simultaneously
Step 42.
Step 46: judge whether the time tag in flight path information is all less than updating with current time system time difference
Phase；If so, illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If
It is not to carry out course extrapolation, update flight path information and the course extrapolation enumerator in flight path parameter is added 1, flight path queue simultaneously
Pointer points to next flight path, execution step 42；
The data fusion device that a kind of ads-b monitors information with secondary radar includes；
Flight path pretreatment module, initially sets up pretreatment point mark queue team head；Then the different types of mark that will receive
The Coordinate Conversion of information is in unified station heart rectangular coordinate system；Target unification to be processed will be needed to arrive by interpolation or extrapolation
On same time point, realize time alignment, the point mark information after processing is sent to pretreatment point mark queue；
Track initiation relating module, reads point mark information from pretreatment point mark queue, then closes on calculation using local optimum
Method is associated with the determination flight path/tentative flight path in flight path queue, if not associating, is calculated using One-step delay track initiation
Method, carries out track initiation, sets up new flight path；If in association, carry out Track In Track filtering；
Flight path maintenance module, timing safeguards flight path, carries out course extrapolation according to rule to the flight path in flight path queue
Or reject the missing object processing in flight path queue.
Further, described flight path pretreatment module concrete processing procedure:
Step 11: judge it is that ads-b monitors information or secondary radar according to flag bit in the point mark information receiving first
Supervision information；If ads-b monitors information, the geodetic coordinates that ads-b is monitored information is transformed into current location for the station heart
Under station center right-angle coordinate in horizon system, execution step 12；Otherwise, then the point mark information receiving should be that secondary radar monitors information,
Under the polar coordinate that secondary radar is monitored information are transformed into current location for the station center right-angle coordinate in horizon system of the heart of standing, execute step
Rapid 13；According to the flight path update cycle t of the time tag in a mark information and default, carry out time alignment；t1<t2<
t3<t4；T4-t1=t；T scope is 4-10s；T3-t2=t2-t1=1s；
Step 12: judge the situation of the time tag in point mark information and current time system time difference, if difference is big
In t1 and be less than t2, then extrapolated, a mark information be extrapolated on current time system time, and send this mark information to
Pretreatment point mark queue, if difference is more than t2 and is less than t3, will put mark message interpolation to current time system using interpolation
On time, and it is sent to pretreatment point mark queue；If difference is more than t3 and is less than t4, abandon this mark；
Step 13: judge the situation of the time tag in point mark information and current time system time difference, if difference is little
In t2, then extrapolated, a mark information is extrapolated on current time system time, and be sent to pretreatment point mark queue, if
More than t2, mark message interpolation will be put on current time system time using interpolation, and be sent to pretreatment point mark queue.
Further, described track initiation relating module concrete processing procedure:
Step 21: initialization points mark queue pointer 1, make it point to team's head of pending mark queue；Judge pointer 1 whether
For sky, if so, illustrate also do not have pending mark to need to process, process time delay 10ms to 15ms, the arrival of holding point mark；If no
For sky, then the point mark that reading pointer 1 points to；
Step 22: initialization flight path queue pointer 2, make it point to team's head of flight path queue；Judge whether pointer 2 is empty；
If so, illustrate also there is no Track forming, the point mark of pointer 1 indication is added flight path queue, same time point as new tentative flight path
Mark queue pointer 1 Jia 1, reads next point mark, continues flight path processing；If it is not, the flight path that reading pointer 2 points to；
Step 23: according to step 21 and step 22, judge whether this flight path is tentative flight path, if so, execution step 24；If
It is not, execution step 26.
Step 24: judge this flight path whether only one of which point, if it is, carrying out using One-step delay Track initialization algorithm
Track initiation, execution step 25；Otherwise, Dian Ji queue pointer 1 Jia 1, continues to read point mark, execution step 22；
Step 25: if on point mark and this track association, update flight path information, and this tentative flight path is changed to determine boat
Mark.If not being, it is associated with the next flight path of flight path queue, execution step 23.
Step 26: judge some marks whether with this track association on, if in association, carrying out Track In Track filtering, if not closing
On connection, this mark is done new tentative flight path and adds in flight path queue.
Further, the described Kalman filter based on current statistical model carry out Track In Track filtering detailed process:
Step 31: according to current statistical model setup parameter, make maneuvering frequency α=0.01, update cycle t=4-10s.State shifts square
Battle arrayObserving matrix h (k)=[1 0 0], will be defeated as kth moment observation data for point mark information
Enter, flight path information is filtered as -1 moment of kth estimated data；
Step 32: state x (k | k-1) in the status predication kth moment according to kth -1 moment；According to kth -1 moment it is
System forecast error estimates system prediction error p (k | k-1) in kth moment；
Step 33: calculate the gain kg of Kalman filter；
Step 34: computing system maximum likelihood estimate x (k | k)；
Step 35: system prediction error p (k | k) of computing system current time；
Step 36: using maximum likelihood estimate x (k | k), update corresponding flight path information.
Further, described step 4 specifically includes:
Step 41: initialization flight path pointer is so as to point to first flight path of flight path queue；
Step 42: judge whether flight path queue pointer is empty, if so, explanation does not have flight path or reaches flight path tail of the queue, process
Postpone 10ms；If it is not, reading the flight path information pointed by flight path queue pointer, execution step 43；
Step 43: judge whether the flight path that flight path queue pointer points to is to determine flight path, and if so, execution step 44, if not
It is, execution step 45；
Step 44: the extrapolation flight path number judging this flight path, whether more than extrapolation thresholding, if so, illustrates that flight path has disappeared,
Send flight path disappearance report, and delete from flight path queue, flight path queue pointer points to next flight path, execution step 42 simultaneously；
If it is not, comparison system current time updates time, execution step 46 with flight path；
Step 45: comparison system current time updates the time with flight path, judges that whether flight path updates the time less than renewal week
Phase；If so, illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If
It is not to illustrate that flight path is false target, delete from flight path queue, flight path queue pointer points to next flight path, execution simultaneously
Step 42；
Step 46: judge whether the time tag in flight path information is all less than updating with current time system time difference
Phase；If so, illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If
It is not to carry out course extrapolation, update flight path information and the course extrapolation enumerator in flight path parameter is added 1, flight path queue simultaneously
Pointer points to next flight path, execution step 42.
In sum, due to employing technique scheme, the invention has the beneficial effects as follows:
Will different types of flight path information Coordinate Conversion in unified station center right-angle coordinate in horizon system；By interpolation
Or extrapolation will need target unification to be processed to same time point, realize space-time be aligned, the point mark information after processing is sent out
Deliver to pretreatment point mark queue；
Read point mark information from pretreatment point mark queue, then closed in algorithm and flight path queue really using local optimum
Determine flight path/tentative flight path to be associated, and carry out Track In Track filtering；
Reach the effect of smooth flight path by tracking filter.
Safeguard flight path finally by timing, course extrapolation or rejecting are carried out to the flight path in flight path queue according to rule
Process the missing object in flight path queue or tentative flight path.
Ads-b can be realized by above-mentioned four steps and monitor that information and secondary radar monitor that the Track Fusion of information is processed, and
And make flight path keep the state of real-time update, to ensure the seriality and the correctness that monitor.
Brief description
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is the method flow schematic diagram of first embodiment of the invention；
Fig. 2 is the method flow schematic diagram of the step 11 in first embodiment of the invention；
Fig. 3 is the method flow schematic diagram of the step 12 in first embodiment of the invention；
Fig. 4 is the method flow schematic diagram of the step 13 in first embodiment of the invention；
Fig. 5 is the method flow schematic diagram of the step 14 in first embodiment of the invention.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification, unless specifically stated otherwise, all can be equivalent or there is similar purpose by other
Alternative features are replaced.I.e., unless specifically stated otherwise, each feature is a series of equivalent or one of similar characteristics example
?.
Related description of the present invention:
1st, in point mark information, flag bit refers to according to European standard, certain data in military standard and custom protocol
Section, it is used for distinguishing ads-b supervision information or secondary radar information.
2nd, extrapolation and interpolation refer to carry out the process of extrapolation process level interpolation by Kalman filtering algorithm.
Workflow of the present invention: Fig. 1 is the method flow schematic diagram of first embodiment of the invention, comprising:
Step 11: Track Fusion processing meanss receive ads-b first and monitor that information and secondary radar monitor information；Then root
According to dependent coordinate transfer algorithm, the supervision information of different system is converted in same topocentric coordinates system, carries out error benefit simultaneously
Repay and according to internal data structure storage；The update cycle setting finally according to the time, by the supervision information unification of different system
To on identical timing node, and the point mark information of internal form is sent to pending mark message queue.
Step 12: read point mark information from pending mark queue, travel through all flight paths, calculation is closed on according to local optimum
Method carries out track initiation/association, if with certain track association on, carry out Track In Track filtering, if not associating, continue time
Go through, if all flight paths all do not associate, this mark is added flight path queue as new tentative flight path.
Step 13: the point mark in association is carried out Track In Track filtering with corresponding flight path, and updates flight path information.
Step 14: according to the flight path maintenance period of default, travel through all flight paths every time, according to correlation criterion to flight path
Carry out safeguarding, extrapolate, reject and disappearance process.
Step 14 independent of other steps, with other steps no sequential restriction relation.
Fig. 2 is the method flow schematic diagram of the step 11 in first embodiment of the invention, comprising:
Step 201: start.
Step 202: obtain point mark information.
Step 203: whether effectively to judge the point mark information receiving, if effectively, execution step 204, otherwise, execution step
202.
Step 204: judge whether some mark information is ads-b point mark, if so, then execution step 205, otherwise, execution step
206.
Step 205: ads-b point mark is converted to the internal form point under same topocentric coordinate system according to internal point mark form
Mark, execution step 207.
Step 206: secondary radar point mark is converted to the inside lattice under same topocentric coordinate system according to internal point mark form
Formula point mark, execution step 207.
Step 207: according to the update cycle of default, will point mark information pass through interpolation or extrapolation unified to identical when
In intermediate node.Execution step 208.
Step 208: the point mark information after processing is sent to pending mark message queue.Repeated execution of steps 202.
By flight path pretreatment, ads-b is monitored that information and secondary radar monitor information unification under identical coordinate system,
And by interpolation/extrapolation will point mark information unification on same time node, be that track initiation/association is ready.
Fig. 3 is the method flow schematic diagram of the step 12 in first embodiment of the invention, comprising:
Step 301: start.
Step 302: initialization pointers 1, point to pending mark queue heads, execution step 303.
Step 303: judge whether pointer 1 is empty, if so, execution step 304.If it is not, execution step 305.
Step 304: process delay 10ms, wait and newly arrive a point mark, execution step 302.
Step 305: the point mark pointed by reading pointer 1, execution step 306.
Step 306: initialization pointers 2, point to flight path queue heads, execution step 307.
Step 307: judge whether pointer 2 is empty, does not if so, have flight path, execution step 308 in explanation system.If it is not,
Execution step 309.
Step 308: the point mark that pointer 1 points to is added in flight path queue as new tentative flight path, execution step 319.
Step 309: the flight path pointed by reading pointer 2, execution step 310.
Step 310: judge whether the flight path pointed by pointer 2 is tentative flight path, if so, execution step 311, if it is not,
Then this flight path is to determine flight path, execution step 316.
Step 311: judge whether this flight path only has 1 point.If so, execution step 312；If it is not, execution step 313；
Step 312: track initiation, execution step 319 are carried out using One-step delay algorithm；
Step 313: judge whether some mark information is associated with this flight path.If so, execution step 314；If it is not, executing step
Rapid 315；
Step 314: update flight path information, and this tentative flight path is changed to determine flight path, execution step 316；
Step 315: the point mark that pointer 1 points to is as new tentative flight path, execution step 319；
Step 316: judge whether the point mark pointed by pointer 1 is mutually shut with the flight path pointed by pointer 2, if so, execute
Step 318, if it is not, execution step 317.
Step 317: pointer 2 Jia 1, points to next flight path, execution step 307.
Step 318: the point mark pointed by pointer 1 is tracked filtering with the flight path mutually shut, and updates flight path information, holds
Row step 319.
Step 319: pointer 1 Jia 1, points to next point mark, reads new point mark, execution step 303.
Fig. 4 is the method flow schematic diagram of the step 13 in first embodiment of the invention, comprising:
Step 401: start.
Step 402: according to current statistical model setup parameter, make maneuvering frequency α=0.01, update cycle t=4-10s.
State-transition matrixObserving matrix h (k)=[1 0 0], will put mark information as the kth moment
Observation data input, flight path information is filtered as -1 moment of kth estimated data.Execution step 403.
Step 403: state x (k | k-1) in the status predication kth moment according to kth -1 moment, execution step 404.
Step 404: system prediction error p (k | k-1) in the system prediction error estimation kth moment according to kth -1 moment,
Execution step 405.
Step 405: calculate the gain kg of Kalman filter, execution step 406.
Step 406: computing system maximum likelihood estimate x (k | k), execution step 407.
Step 407: system prediction error p (k | k) of computing system current time, execution step 403.
Fig. 5 is the method flow schematic diagram of the step 14 in first embodiment of the invention, comprising:
Step 501: start.
Step 502: initialization flight path pointer 1 is so as to point to first flight path of flight path queue, execution step 503.
Step 503: judge whether pointer 1 is empty, and if so, explanation does not have flight path or reaches flight path tail of the queue, execution step
505；If it is not, execution step 504.
Step 504: the flight path information pointed by reading pointer 1, execution step 506.
Step 505: process delay 10ms, execution step 502.
Step 506: judge whether to extrapolate flight path number more than extrapolation thresholding, if so, illustrate that flight path has disappeared, execution step
508.If it is not, execution step 509.
Step 507: send flight path disappearance report, and delete this flight path from flight path queue, execution step 507.
Step 508: pointer 1 Jia 1, execution step 503.
Step 509: obtain the current time in system, calculate present system time and flight path updates the time difference of time.Execution
Step 510.
Step 510: judge whether time difference is less than the update cycle.If so, illustrate that this flight path, also not to the update cycle, is held
Row step 511；If it is not, execution step 512.
Step 511: pointer 1 Jia 1, execution step 503.
Step 512: judge whether this flight path is to determine flight path, if so, execution step 513, if it is not, illustrating as tentative boat
Mark, is false track, execution step 507.
Step 513: carry out course extrapolation, and count is incremented by this course extrapolation, and update flight path information and time tag,
Execution step 514.
Step 514: pointer 1 Jia 1, execution step 503.
Embodiment one: the flight path update cycle (is assumed to t=4s), carries out time alignment；
Step 12: judge the situation of the time tag in point mark information and current time system time difference, if difference is big
In negative 1s and less than 0s, then extrapolated, a mark information is extrapolated on current time system time, and sent this mark information
To pretreatment point mark queue, if difference is less than 1s and is more than 0s, mark message interpolation will be put to current time system using interpolation
On the system time, and it is sent to pretreatment point mark queue.If difference is more than 1s and is less than 3s, abandon this mark；Appoint in the next cycle
So according to the execution of this rule；
Step 13: judge the situation of the time tag in point mark information and current time system time difference, if difference is little
It is more than in 0, is then extrapolated, a mark information is extrapolated on current time system time, and be sent to pretreatment point mark queue,
If being more than 0, mark message interpolation will be put on current time system time using interpolation, and be sent to pretreatment point mark queue.
Above-mentioned method can be realized with software, and certainly whole engineering is realized by hardware certainly.Software
Development environment and running environment are below java.Each above-mentioned step is realized as a process.The invention is not limited in
Aforesaid specific embodiment.The present invention expands to any new feature disclosing in this manual or any new combination, with
And the arbitrary new method of disclosure or the step of process or any new combination.
Claims (10)
1. a kind of ads-b and secondary radar monitor the data fusion method of information it is characterised in that including:
Step 1: flight path pretreatment, initially set up pretreatment point mark queue team head；Then by different types of received mark letter
The Coordinate Conversion of breath is in unified station center right-angle coordinate in horizon system；Target unification to be processed will be needed by interpolation or extrapolation
To on same time point, realize time alignment, the point mark information after processing is sent to pretreatment point mark queue；
Step 2: track initiation association: read point mark information from pretreatment point mark queue, then calculation is closed on using local optimum
Method is associated with the determination flight path/tentative flight path in flight path queue, if not associating, is calculated using One-step delay track initiation
Method, carries out track initiation, sets up new flight path；If in association, carry out Track In Track filtering；
Step 3: Track In Track filtering: Track In Track filtering is carried out using the Kalman filtering algorithm based on current statistical model；
Step 4: flight path safeguards, that is, timing safeguards flight path, carries out course extrapolation according to rule to the flight path in flight path queue
Or reject missing object and the tentative flight path processing in flight path queue.
2. ads-b according to claim 1 and secondary radar monitor the data fusion method of information it is characterised in that described
Step 1 specifically includes:
Step 11: judge it is that ads-b monitors that information or secondary radar monitor according to flag bit in the point mark information receiving first
Information；If ads-b monitors information, the geodetic coordinates that ads-b is monitored information is transformed into the station heart with current location for the heart of standing
Under Horizon rectangular coordinate system, execution step 12；Otherwise, then the point mark information receiving should be that secondary radar monitors information, by two
Under the polar coordinate of secondary radar surveillance information are transformed into current location for the station center right-angle coordinate in horizon system of the heart of standing, execution step
13；According to the flight path update cycle t of the time tag in a mark information and default, carry out time alignment；t1<t2<t3<
t4；T4-t1=t；T scope is 4-10s；T3-t2=t2-t1=1s；
Step 12: judge the situation of the time tag in point mark information and current time system time difference, if difference is more than t1
And be less than t2, then extrapolated, a mark information is extrapolated on current time system time, and sent this mark information and located to pre-
Reason point mark queue, if difference is more than t2 and is less than t3, will put mark message interpolation to current time system time using interpolation
On, and it is sent to pretreatment point mark queue；If difference is more than t3 and is less than t4, abandon this mark；
Step 13: judge the situation of the time tag in point mark information and current time system time difference, if difference is less than t2,
Then extrapolated, a mark information is extrapolated on current time system time, and be sent to pretreatment point mark queue, if being more than
T2, will put mark message interpolation on current time system time using interpolation, and be sent to pretreatment point mark queue.
3. ads-b according to claim 1 and secondary radar monitor the data fusion method of information it is characterised in that described
Step 2 implements process and includes:
Step 21: initialization points mark queue pointer 1, make it point to team's head of pending mark queue；Judge that whether pointer 1 is
Sky, if so, illustrates also do not have pending mark to need to process, process time delay 10ms to 15ms, the arrival of holding point mark；If not
Sky, then the point mark that reading pointer 1 points to；
Step 22: initialization flight path queue pointer 2, make it point to team's head of flight path queue；Judge whether pointer 2 is empty；If so,
Illustrate also not having Track forming, the point mark of pointer 1 indication is added flight path queue as new tentative flight path, with time point mark queue
Pointer 1 Jia 1, reads next point mark, continues flight path processing；If it is not, the flight path that reading pointer 2 points to；
Step 23: according to step 21 and step 22, judge whether this flight path is tentative flight path, if so, execution step 24；If no
It is, execution step 26；
Step 24: judge this flight path whether only one of which point, if it is, flight path is carried out using One-step delay Track initialization algorithm
Initial, execution step 25；Otherwise, Dian Ji queue pointer 1 Jia 1, continues to read point mark, execution step 22；
Step 25: if on point mark and this track association, update flight path information, and this tentative flight path is changed to determine flight path；As
It is not to be associated with the next flight path of flight path queue, execution step 23；
Step 26: judge some marks whether with this track association on, if in association, carrying out Track In Track filtering, if not associating,
This mark is done new tentative flight path add in flight path queue.
4. ads-b according to claim 1 and secondary radar monitor the data fusion method of information it is characterised in that described
Step 3 implements process and includes:
Step 31: according to current statistical model setup parameter, make maneuvering frequency α=0.01, update cycle t=4 to 10；State turns
Move matrixObserving matrix h (k)=[1 0 0], point mark information is observed number as the kth moment
According to input, flight path information is filtered as -1 moment of kth estimated data；
Step 32: state x (k | k-1) in the status predication kth moment according to kth -1 moment；
System prediction error p (k | k-1) in the system prediction error estimation kth moment according to kth -1 moment；
Step 33: calculate the gain kg of Kalman filter；
Step 34: computing system maximum likelihood estimate x (k | k)；
Step 35: system prediction error p (k | k) of computing system current time；
Step 36: using maximum likelihood estimate x (k | k), update corresponding flight path information.
5. ads-b according to claim 1 and secondary radar monitor the data fusion method of information it is characterised in that described
Step 4 specifically includes:
Step 41: initialization flight path pointer is so as to point to first flight path of flight path queue；
Step 42: judge whether flight path queue pointer is empty, if so, explanation does not have flight path or reaches flight path tail of the queue, process delay
10ms to 15ms；If it is not, reading the flight path information pointed by flight path queue pointer, execution step 43；
Step 43: judge whether the flight path that flight path queue pointer points to is to determine flight path, and if so, execution step 44, if it is not, hold
Row step 45；
Step 44: the extrapolation flight path number judging this flight path, whether more than extrapolation thresholding, if so, illustrates that flight path has disappeared, and sends
Flight path disappears and reports, and deletes from flight path queue, and flight path queue pointer points to next flight path, execution step 42 simultaneously；If no
It is that comparison system current time updates time, execution step 46 with flight path；
Step 45: comparison system current time updates the time with flight path, judges that flight path updates whether the time is less than the update cycle；If
It is to illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If it is not,
Illustrate that flight path is false target, delete from flight path queue, flight path queue pointer points to next flight path, execution step simultaneously
42；
Step 46: judge whether the time tag in flight path information is less than the update cycle with current time system time difference；If
It is to illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If it is not,
Carry out course extrapolation, update flight path information and the course extrapolation enumerator in flight path parameter is added 1, flight path queue pointer refers to simultaneously
To next flight path, execution step 42.
6. a kind of ads-b and secondary radar monitor the data fusion device of information it is characterised in that including；
Flight path pretreatment: initially set up pretreatment point mark queue team head；Then by the seat of the different types of mark information receiving
Mark is transformed in unified station heart rectangular coordinate system；Target to be processed will be needed to the same time unified by interpolation or extrapolation
On point, realize time alignment, the point mark information after processing is sent to pretreatment point mark queue；
Track initiation associates: reads point mark information from pretreatment point mark queue, then closes on algorithm and boat using local optimum
Determination flight path in mark queue/tentative flight path is associated, if not associating, using One-step delay Track initialization algorithm, carries out
Track initiation, sets up new flight path；If in association, carry out Track In Track filtering；
Track In Track filters: carries out Track In Track filtering using the Kalman filtering algorithm based on current statistical model；
Flight path is safeguarded: i.e. timing safeguards flight path, carries out course extrapolation or rejecting according to rule to the flight path in flight path queue
Process the missing object in flight path queue and tentative flight path.
7. ads-b according to claim 6 and secondary radar monitor the data fusion device of information it is characterised in that described
Flight path pretreatment module concrete processing procedure:
Step 11: judge it is that ads-b monitors that information or secondary radar monitor according to flag bit in the point mark information receiving first
Information；If ads-b monitors information, the geodetic coordinates that ads-b is monitored information is transformed into the station heart with current location for the heart of standing
Under Horizon rectangular coordinate system, execution step 12；Otherwise, then the point mark information receiving should be that secondary radar monitors information, by two
Under the polar coordinate of secondary radar surveillance information are transformed into current location for the station center right-angle coordinate in horizon system of the heart of standing, execution step
13；According to the flight path update cycle t of the time tag in a mark information and default, carry out time alignment；t1<t2<t3<
t4；T4-t1=t；T scope is 4-10s；T3-t2=t2-t1=1s；
Step 12: judge the situation of the time tag in point mark information and current time system time difference, if difference is more than t1
And be less than t2, then extrapolated, a mark information is extrapolated on current time system time, and sent this mark information and located to pre-
Reason point mark queue, if difference is more than t2 and is less than t3, will put mark message interpolation to current time system time using interpolation
On, and it is sent to pretreatment point mark queue；If difference is more than t3 and is less than t4, abandon this mark；
Step 13: judge the situation of the time tag in point mark information and current time system time difference, if difference is less than t2,
Then extrapolated, a mark information is extrapolated on current time system time, and be sent to pretreatment point mark queue, if being more than
T2, will put mark message interpolation on current time system time using interpolation, and be sent to pretreatment point mark queue.
8. ads-b according to claim 6 and secondary radar monitor the data fusion device of information it is characterised in that described
Track initiation relating module concrete processing procedure:
Step 21: initialization points mark queue pointer 1, make it point to team's head of pending mark queue；Judge that whether pointer 1 is
Sky, if so, illustrates also do not have pending mark to need to process, process time delay 10ms to 15ms, the arrival of holding point mark；If not
Sky, then the point mark that reading pointer 1 points to；
Step 22: initialization flight path queue pointer 2, make it point to team's head of flight path queue；Judge whether pointer 2 is empty；If so,
Illustrate also not having Track forming, the point mark of pointer 1 indication is added flight path queue as new tentative flight path, with time point mark queue
Pointer 1 Jia 1, reads next point mark, continues flight path processing；If it is not, the flight path that reading pointer 2 points to；
Step 23: according to step 21 and step 22, judge whether this flight path is tentative flight path, if so, execution step 24；If no
It is, execution step 26；
Step 24: judge this flight path whether only one of which point, if it is, flight path is carried out using One-step delay Track initialization algorithm
Initial, execution step 25；Otherwise, Dian Ji queue pointer 1 Jia 1, continues to read point mark, execution step 22；
Step 25: if on point mark and this track association, update flight path information, and this tentative flight path is changed to determine flight path；As
It is not to be associated with the next flight path of flight path queue, execution step 23；
Step 26: judge some marks whether with this track association on, if in association, carrying out Track In Track filtering, if not associating,
This mark is done new tentative flight path add in flight path queue.
9. ads-b according to claim 6 and secondary radar monitor the data fusion device of information it is characterised in that described
Kalman filter based on current statistical model carry out Track In Track filtering detailed process:
Step 31: according to current statistical model setup parameter, make maneuvering frequency α=0.01, update cycle t=4 to 10；State turns
Move matrixObserving matrix h (k)=[1 0 0], point mark information is observed number as the kth moment
According to input, flight path information is filtered as -1 moment of kth estimated data；
Step 32: state x (k | k-1) in the status predication kth moment according to kth -1 moment；
System prediction error p (k | k-1) in the system prediction error estimation kth moment according to kth -1 moment；
Step 33: calculate the gain kg of Kalman filter；
Step 34: computing system maximum likelihood estimate x (k | k)；
Step 35: system prediction error p (k | k) of computing system current time；
Step 36: using maximum likelihood estimate x (k | k), update corresponding flight path information.
10. ads-b according to claim 6 and secondary radar monitor the data fusion method of information it is characterised in that institute
State flight path maintenance module to specifically include:
Step 41: initialization flight path pointer is so as to point to first flight path of flight path queue；
Step 42: judge whether flight path queue pointer is empty, if so, explanation does not have flight path or reaches flight path tail of the queue, process delay
10ms；If it is not, reading the flight path information pointed by flight path queue pointer, execution step 43；
Step 43: judge whether the flight path that flight path queue pointer points to is to determine flight path, and if so, execution step 34, if it is not, hold
Row step 35；
Step 44: the extrapolation flight path number judging this flight path, whether more than extrapolation thresholding, if so, illustrates that flight path has disappeared, and sends
Flight path disappears and reports, and deletes from flight path queue, and flight path queue pointer points to next flight path, execution step 42 simultaneously；If no
It is that comparison system current time updates time, execution step 46 with flight path；
Step 45: comparison system current time updates the time with flight path, judges that flight path updates whether the time is less than the update cycle；If
It is to illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If it is not,
Illustrate that flight path is false target, delete from flight path queue, flight path queue pointer points to next flight path, execution step simultaneously
42；
Step 46: judge whether the time tag in flight path information is less than the update cycle with current time system time difference；If
It is to illustrate this flight path also not to update cycle, the next flight path of flight path mark queue pointer sensing, execution step 42；If it is not,
Carry out course extrapolation, update flight path information and the course extrapolation enumerator in flight path parameter is added 1, flight path queue pointer refers to simultaneously
To next flight path, execution step 42.
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