CN105491122A - System for fusing and exchanging data among multiple control centers - Google Patents

System for fusing and exchanging data among multiple control centers Download PDF

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CN105491122A
CN105491122A CN201510875515.0A CN201510875515A CN105491122A CN 105491122 A CN105491122 A CN 105491122A CN 201510875515 A CN201510875515 A CN 201510875515A CN 105491122 A CN105491122 A CN 105491122A
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data
module
theta
control centre
fusion
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CN105491122B (en
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杨晓嘉
郭宁
叶家全
邹杰
杜辉
罗启铭
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Second Research Institute of CAAC
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/56—Provisioning of proxy services
    • H04L67/565—Conversion or adaptation of application format or content
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/2866—Architectures; Arrangements

Abstract

The invention relates to a system for fusing and exchanging data among multiple control centers. The system comprises a front end data processing sub-system, and a fusing and exchanging sub-system. The front end data processing sub-system is used for receiving comprehensive flight paths and flight data of multiple control centers, analyzing and monitoring data quality, and sending each piece of analyzed channel data to the fusing and exchanging sub-system through controlling an input/output device; the fusing and exchanging sub-system completes data fusion processing, flight data processing and flight data related processing of the control centers to form integrated flight data and an integrated comprehensive flight path. According to the system, data exchange and fusion among the control centers can be completed in time, seamless connection of management services and automatic transferring of the control of the control centers are achieved. Continuity and compatibility of the radar control task among different ATC systems in the area control region or among the area control regions are improved.

Description

The system of data fusion and exchange between a kind of many Control Centre
Technical field
The present invention relates to a kind of data fusion and switching system, be specifically related to the data fusion between a kind of many Control Centre and switching system.
Background technology
Civil Aviation ATM system was through the construction of more than 20 years, particularly pass through the construction of " eight or five ", " 95 " two five-year plans, the ATC system of large quantities of Control Centre comes into operation in succession, regulatory service ability is made to reach a new height, blank pipe supportability has had the raising of essence, plays more and more outstanding and crucial effect ensureing in flight safety, normal and good service.Particularly in recent years successively in termination environment, Beijing, Beijing Area, termination environment, Zhuhai, region, Guangzhou, wide air route, capital implement radar control, creates good economic benefit and social benefit.
Along with the high speed development of CAAC, civil aviaton's flight amount constantly increases, and the safety guarantee task system that Civil Aviation ATM faces is more and more heavier, more and more higher to the requirement of blank pipe safeguards system.But, due to " seven states eight make " present situation of China's air traffic control system equipment, there is provided the data between each Control Centre automated system mutually not exchange and to share by country variant and manufacturer, greatly have impact on capacity and the efficiency of system, the process from procedural control to radar control is affected.Along with the progress of Civil Aviation ATM system reform, blank pipe Upper Control Area number reduces to about 7 by from more than present 20, along with the foundation of the automated systems such as three regions Control Centre, termination environment, Beijing, effectively improving the air traffic control ability of China, is also the grand strategy step implementing radar control strategy.For giving full play to the function and efficacy of Control Centre, completing Control Centre large regions and running, how to realize between Control Centre information exchange and data fusion by most important.
For implementing in full radar control strategy, the automatic transfer between regulatory area, zonal information sharing, national flight plan process (FDP) data fusion has become the important step of Civil Aviation ATM control three and demand.And realize the development trend that " system interconnect is automatic, information sharing is mutual, data consistent synchronous " is air traffic control automation system.
The Eleventh Five-Year Plan period, middle-size and small-size air traffic control automation system implements production domesticization, data fusion and switching technology research between the Control Centre carrying out China's independent intellectual property right, the Its Relevant Technology Standards formulating air traffic control automation system data fusion and switching technology is imperative.Abroad, particularly Europe, namely the work of this aspect is started from the nineties in last century, in the formulation of the various communications protocols of system interface technical specification and realization, and to meet in ATC system that new air traffic control requires in exploitation and done a large amount of work, achieve in control zone and between control zone, the seamless link of air traffic control data and control are transferred, achieve suitable technological achievement, greatly impetus is served to realization " European Space integration ".
The data of existing Control Centre data fusion system process are relatively unilateral, exchanges data and fusion can not be carried out in real time, as " design and implimentation of ATC Multi-Radar Data Fusion System " (avionics that Jiang Naixin etc. delivers, 35th volume the 2nd phase in 2004) and the data fusion of transport information " in civil aviaton's ATC system " (China Civil Aviation College's journal, the 15th volume the 4th phase in 1997) of delivering such as Xue Wenan.And the data volume of each Control Centre is very large, and comprehensively whether deal with data, accurately, whether data real-time exchange can merge the decisive factor being undoubtedly blank pipe effect quality, therefore, the present invention between Civil Aviation ATM Control Centre, the fusion of the data particularly between high-altitude Control Centre and low-to-medium altitude Control Centre and exchange treatment technology and study.
Summary of the invention
Technical problem to be solved by this invention is: provide the data fusion between a kind of many Control Centre and switching system, realizes the seamless link of the real-time exchange of control data between Control Centre and fusion, regulatory service.
Technical scheme of the present invention is: the data fusion between a kind of many Control Centre and switching system, comprise front end data processing subsystem, fusion and switching subsystem; Front end data processing subsystem, by the control to input-output equipment, receives integrated track and the flying quality of multiple Control Centre, carries out parsing and quality of data supervision, and each channel data after resolving is sent to fusion and switching subsystem; To merge and switching subsystem completes the association process of the fusion treatment of data between each Control Centre, flight visual simulation, flying quality, formed and merge flying quality and merge integrated track; The fusion flying quality that the fusion of reception and switching subsystem also export by front end data processing subsystem and fusion integrated track output to the Control Centre's system front end corresponded by physical interface.
This data fusion and switching system also comprise digital simulation simulation subsystem, Control Centre's running environment is simulated, the data that the Control Centre of simulating realistic produces, then produced integrated track, radar data and message data are outputted to other subsystem by output port, as the basic data source of whole data fusion and switching system; The data of other subsystems and the transmission of other Control Centre can also be received to carry out exchanging and detecting by input port simultaneously.
Front end data processing subsystem comprises multi-channel data Processing Interface, data format parsing module, data format Knockdown block, quality of data checking module, multichannel flight path set up module, multichannel Target track displaying module, Human-machine Control module, internal form Knockdown block; Multi-channel data Processing Interface, according to connecting system demand modeling physical communication interface hardware, is carried out multichannel parallel data input and output and is controlled; Control Centre's air traffic control automation system that data format parsing module receives multiple passage exports data, resolves according to data format; Data format Knockdown block, carries out data assembling to fusion flying quality and fusion integrated track, sends each Control Centre to by multi-channel data Processing Interface; Quality of data checking module, carries out quality discrimination according to the flight track of resolving and flight plan data to the data that front end data processing subsystem receives, provides current data quality state; Multichannel flight path sets up module, and parallel multi-channel data memory block is set up in the setting according to physical channel, according to different receive paths, stores all flight tracks and flight plan data according to airbound target; Multichannel Target track displaying module, sets up the flight track data of module according to multichannel flight path, shown the flight track data of all passages, set up Concurrent Display mechanism simultaneously by X-Y scheme mode, according to selection, shows different channel datas simultaneously; Human-machine Control module, controls interactive process; Internal form Knockdown block, carries out data assembling to the integrated track be input in front end data processing subsystem, by network uniform transmission in fusion and switching subsystem.
Fusion and switching subsystem comprise front end data input interface, spatial registration module, Data Quality Analysis module, temporal registration module, data association module, data fusion module, fused data display module, flying quality filtering module, flying quality analysis module, flying quality modular converter, flying quality display module, fused data and flying quality relating module, data output control module; Front end data input interface, receiving front-end data process subsystem outputs to fusion and supervision data, these system internal format data of integrated track data of switching subsystem internal lan, and is sent to corresponding module according to data type and processes; Spatial registration module, eliminates Coordinate Conversion distortion, these intrinsic errors of Control Centre's systematic error to the impact of syncretizing effect; Data Quality Analysis module, to the supervision data analysis through spatial registration, adopts clustering method data to be divided into normal data, delayed data, abnormal data, exports corresponding module to and process the supervision data of various quality state respectively; Temporal registration module, adopts least-squares algorithm to being judged to be that through Data Quality Analysis module the supervision data of normal data carry out time synchronizing; Data association module, association flight path and some mark data, be divided into normal data to associate and delayed data correlation two parts according to the difference of the supervision quality of data of process; Data fusion module, according to monitoring that the difference of the quality of data adopts different data fusion methods to carry out fusion treatment respectively, is divided into normal data to merge and delayed data fusion two parts; Fused data display module, according to fusion track data, shows fusion track data by X-Y scheme mode; Flying quality filtering module, carries out filtering screening by the flying quality of input, extracts required information; Flying quality analysis module, analyzes the information obtained, and parses the data item needed for can associating with fused data, uses for generation integrated track; Flying quality modular converter, realizes the conversion of CRC verification algorithm, start of heading and end and indicates conversion, time showing format conversion; Flying quality display module, according to flying quality, shows information by interface manner; Fused data and flying quality relating module, according to fused data with wail in flying quality, flight plan, flight track associate with flight information fused data, forms integrated track data; Data output control module, the output state of control system interior monitoring data, flying quality and integrated track data.
Merge and switching subsystem in spatial registration module adopt following method to realize: within a period of time, there is N number of target in two pipes system center control region overlapping region, has for a kth integrated track data:
Wherein, N>=2, k=1,2 ..., N, x a,k, y a,krepresent the position in integrated track target kth moment under the local coordinate system of Control Centre a of Control Centre a, x b,k, y b,krepresent the position in integrated track target kth moment under the local coordinate system of Control Centre b of Control Centre b, Δ r arepresent the oblique distance deviation of Control Centre a, θ a,krepresent that Control Centre a is at the azimuth in kth moment, namely with positive northern clockwise angle, r a,krepresent the oblique distance of Control Centre a in kth moment and integrated track target, Δ θ arepresent the azimuth angle deviation of Control Centre a, Δ r brepresent the oblique distance deviation of Control Centre b, θ b,krepresent that Control Centre b is at the azimuth in kth moment, namely with positive northern clockwise angle, r b,krepresent the oblique distance of Control Centre b in kth moment and integrated track target, Δ θ brepresent the azimuth angle deviation of Control Centre b;
To N number of integrated track data, there is 2N equation, obtain with a matrix representation 2N equation:
z＝Ax
Wherein, x is each Control Centre systematic error, and z represents coordinate difference value vector between Control Centre, and A is coefficient matrix;
This is a linear logical equations, and its normal equation is:
A TAx＝A Tz
That is, x=(A ta) -1a tz
For convenience of calculation, order:
Then: x=B -1c,
Wherein, above-mentioned various in T representing matrix turn order.
Digital simulation simulation subsystem comprises basic data module, script makes module, data control block, system management module, graph image module, algoritic module; Basic data module, is organized into system library by master data, for other modules provide necessary basic database; Script makes module, makes script, is made up of self-defined air route script, flight attitude synthesis script and flight plan message script three submodules; Data control block, control data generation, transmission and reception, data control block can record all environmental datas and comprise all transmitting-receiving situations, comprises the setting of surveillance equipment information parameter, data output protocol arranges and data output quality controls; System management module, carries out integrated management to this digital simulation simulation subsystem, comprises the filing management of system parameters management, project; Graph image module, the information of the Control Centre of being simulated by map denotation, and the manufacturing process of each associated script and whole life cycle; Algoritic module, generates alarm, collision event, flare maneuver and the data required for flight plan.
Self-defined air route script submodule can realize user and design flight route arbitrarily, then allows corresponding aircraft run on this air route, realizes corresponding rising, decline, acceleration and deceleration by design flight route.
Flight attitude synthesis script submodule can freely design whole flight path according to the performance of aircraft, and different aeroplane performances produces different flight tracks.
According to the flight performance parameter of aircraft, air route, time, in different positions, definition sends different flight plan messages to flight plan message script submodule, can automatically reply or manually reply telegram simultaneously, the content generated also can generate telegram or hand filling telegram automatically, flight route is primarily of the air route composition in storehouse, fixing air route, can not longitude and latitude be revised, corresponding cruising altitude and speed can be revised.
The present invention's advantage is compared with prior art:
Between Control Centre of the present invention, exchanges data and fusion can complete in real time, achieve the automatic transfer of the seamless link of regulatory service between Control Centre, control.Ensured in area control district, the continuity of radar control task and compatibility between area control interval different ATC system.
Accompanying drawing explanation
Fig. 1 is the structure chart of data fusion of the present invention and switching system first embodiment.
Fig. 2 is the structure chart of data fusion of the present invention and switching system second embodiment.
Fig. 3 is front end data processing subsystem structure chart of the present invention.
Fig. 4 is fusion of the present invention and switching subsystem structure chart.
Fig. 5 is digital simulation simulation subsystem structure chart of the present invention.
Fig. 6 is DoD formatted data process of analysis figure.
Fig. 7 is SMR formatted data process of analysis figure.
Fig. 8 is data format Knockdown block schematic diagram.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail.
As shown in Figure 1, the first embodiment of the present invention, the data fusion between a kind of many Control Centre and switching system, comprise front end data processing subsystem, fusion and switching subsystem; Front end data processing subsystem, by the control to input-output equipment, receives integrated track and the flying quality of multiple Control Centre, carries out parsing and quality of data supervision, and each channel data after resolving is sent to fusion and switching subsystem; To merge and switching subsystem completes the association process of the fusion treatment of data between each Control Centre, flight visual simulation, flying quality, formed and merge flying quality and merge integrated track; The fusion flying quality that the fusion of reception and switching subsystem also export by front end data processing subsystem and fusion integrated track output to the Control Centre's system front end corresponded by physical interface.
As shown in Figure 3, front end data processing subsystem structure chart of the present invention, described front end data processing subsystem comprises multi-channel data Processing Interface, data format parsing module, data format Knockdown block, quality of data checking module, multichannel flight path set up module, multichannel Target track displaying module, Human-machine Control module, internal form Knockdown block; Multi-channel data Processing Interface, according to connecting system demand modeling physical communication interface hardware, is carried out multichannel parallel data input and output and is controlled; Control Centre's air traffic control automation system that data format parsing module receives multiple passage exports data, resolves according to data format; Data format Knockdown block, carries out data assembling to fusion flying quality and fusion integrated track, sends each Control Centre to by multi-channel data Processing Interface; Quality of data checking module, carries out quality discrimination according to the flight track of resolving and flight plan data to the data that front end data processing subsystem receives, provides current data quality state; Multichannel flight path sets up module, and parallel multi-channel data memory block is set up in the setting according to physical channel, according to different receive paths, stores all flight tracks and flight plan data according to airbound target; Multichannel Target track displaying module, sets up the flight track data of module according to multichannel flight path, shown the flight track data of all passages, set up Concurrent Display mechanism simultaneously by X-Y scheme mode, according to selection, shows different channel datas simultaneously; Human-machine Control module, controls interactive process; Internal form Knockdown block, carries out data assembling to the integrated track be input in front end data processing subsystem, by network uniform transmission in fusion and switching subsystem.
Wherein, internal form comprises data item message structure and track data structure two parts.Data item message structure is as shown in table 1, and track data structure is as shown in table 2.
Table 1
Title Identifier
Title name
Swing circle perid
Covering radius radius
Code SAC 5 -->
Area code SIC
Secondary code SCODE
Flight path number trnum
Sector sum total
Longitude and latitude position Lat,lon
Format Type type
Table 2
Title Identifier
Coordinate coor
Current acceleration fa
Current angular velocity fw
The current climb rate cli
Present level alt
Present speed fv
Current direction fbear
Current, the output Data Physical interface of the air traffic control automation system of each Control Centre is different, simultaneously their way of output and agreement also different.The DOD that the THALES system of three large Control Centre exports adopts X.25 mode, and SMR integrated data adopts is the way of output of TCP/IP.The integrated data way of output being arranged on the air traffic control automation system of domestic Thunder God system and Present Domestic air traffic control system manufacturer is HDLC mode.According to this situation, present invention employs HDLC agreement to ICP/IP protocol conversion equipment (abbreviation protocol conversion device), as its physics access device.Protocol conversion device supports HDLC and the interface mode such as X.25, supports the ability simultaneously inputting 16 ports simultaneously.Present invention employs the input mode that protocol conversion device and asynchronous serial port, TCP/IP combine, is the reliability and stability improving system, carries out being converted to network data exporting data by front end data handling procedure is unified.The data inputted according to different passage are carried out real-time data format and are resolved and data processing, and are input to fusion and switching subsystem carries out Data Fusion.
DOD data interface standard is that the provider THALES of the EUROCAT-X of three large Control Centre formulates, radar data record is produced in NESACC radar data process (RDP) function, produce flight data record in flight plan process (FDP) function, automatic monitoring (ADS) function of association produces ADS data record.DOD data message is as shown in Figure 6 resolved, according to DOD data format standard, TRAI (tracking action message), TDUP (tracking data renewal), TERM (follow the tracks of and terminate) message are resolved, and according to its rule, set up flight plan information entrained in flight path information and its message.
SMR data interface standard is that the provider THALES of the EUROCAT-X of three large Control Centre formulates, in NESACC radar data process (RDP) function, produce radar data record, in flight visual simulation (FDP) function, produce flight data recording.Its output has point-device positional information, the planned information of some airbound target.Because radar data and flight plan data in the data of SMR adopt different Frames to transmit, in Data Analysis, resolve RDR and FDR data, and utilize the secondary code information of carrying out to be correlated with, set up unified system flight path.The flow process of SMR Data Analysis as shown in Figure 7.
As shown in Figure 8, data format Knockdown block, the air route information relevant with plan by flight plan information, is assembled in output integrated flight path, specifically comprises:
1) data type judges
The data accepted due to each Control Centre are different, and data fusion of the present invention and switching system can export the various formatted data such as radar, DOD, ADS-B to Control Centre.First set according to user the data type judging assembling data in data assembling process.
2) data format is selected
Identical categorical data also has different forms, as radar data just You Yici bis-to take second place point, the data format of different manufacturers is also not quite similar.System provides data format set model flexibly, can set assembling form respectively to all kinds data.And misdata form can be set.
3) data item is assembled
Extract merge aircraft secondary code in integrated track data, catchword, position, highly, the information such as speed, heading, mate corresponding flight information, according to selected data format, data item each in this data type assembled.And can according to misdata items such as setup parameter assembling saltus step, loss, mess codes.
4) calculated data length
The form of the data item that foundation assembles and data setting, calculates the data length of these integrated track data.And misdata length can be returned according to setup parameter.
5) integrated track data are assembled
According to the data format chosen and the data length calculated, data item data is assembled, obtain system synthesis track data.
As shown in Figure 4, fusion of the present invention and switching subsystem structure chart, described fusion and switching subsystem comprise front end data input interface, spatial registration module, Data Quality Analysis module, temporal registration module, data association module, data fusion module, fused data display module, flying quality filtering module, flying quality analysis module, flying quality modular converter, flying quality display module, fused data and flying quality relating module, data output control module; Front end data input interface, receiving front-end data process subsystem outputs to fusion and supervision data, these system internal format data of integrated track data of switching subsystem internal lan, and is sent to corresponding module according to data type and processes; Spatial registration module, eliminates Coordinate Conversion distortion, these intrinsic errors of Control Centre's systematic error to the impact of syncretizing effect; Data Quality Analysis module, to the supervision data analysis through spatial registration, adopts clustering method data to be divided into normal data, delayed data, abnormal data, exports corresponding module to and process the supervision data of various quality state respectively; Temporal registration module, adopts least-squares algorithm to being judged to be that through Data Quality Analysis module the supervision data of normal data carry out time synchronizing; Data association module, association flight path and some mark data, be divided into normal data to associate and delayed data correlation two parts according to the difference of the supervision quality of data of process; Data fusion module, according to monitoring that the difference of the quality of data adopts different data fusion methods to carry out fusion treatment respectively, is divided into normal data to merge and delayed data fusion two parts; Fused data display module, according to fusion track data, shows fusion track data by X-Y scheme mode; Flying quality filtering module, carries out filtering screening by the flying quality of input, extracts required information; Flying quality analysis module, analyzes the information obtained, and parses the data item needed for can associating with fused data, uses for generation integrated track; Flying quality modular converter, realizes the conversion of CRC verification algorithm, start of heading and end and indicates conversion, time showing format conversion; Flying quality display module, according to flying quality, shows information by interface manner; Fused data and flying quality relating module, according to fused data with wail in flying quality, flight plan, flight track associate with flight information fused data, forms integrated track data; Data output control module, the output state of control system interior monitoring data, flying quality and integrated track data.
Mainly there is the error of two types in the integrated track data that Control Centre exports: random error and systematic error.Random error is produced by the trueness error factor of surveillance equipment each in Control Centre itself; Systematic error is adopted the factors such as approximate data to produce by Formula of Coordinate System Transformation.Random error well can be eliminated by blending algorithm in fusion process, and systematic error is a kind of fixing error, blending algorithm can not be utilized automatically to eliminate, must estimate in implementation procedure, error compensation is carried out to each Control Centre, thus elimination registration error, improve fusion accuracy.
Have the multiple formats such as DOD, SMR, MH4008-03, EUR62 due to data, a part of data represent with longitude and latitude, and a part of data are with right angle or polar coordinate representation, therefore will carry out spatial registration.Spatial registration, is first changed by high accuracy longitude and latitude, is converted to rectangular coordinate system form, then carries out Error processing to the data of each Control Centre by unified for data.In spatial registration process, adopt Gauss Kru&4&ger projection's 3 ° of points of band methods to carry out Coordinate Conversion.Error processing comprises random crror processing and systematic error process.Random error is produced by the trueness error factor of surveillance equipment each in Control Centre itself; Systematic error is adopted the factors such as approximate data to produce by Formula of Coordinate System Transformation.Random error well can be eliminated by blending algorithm in fusion process, and systematic error is a kind of fixing error, blending algorithm can not be utilized automatically to eliminate, must estimate in implementation procedure, error compensation is carried out to each Control Centre, thus eliminates registration error.The present invention adopts least square method to carry out registration to systematic error.
Merge and switching subsystem in spatial registration module, be implemented as follows:
Within a period of time, there is N number of target in two pipes system center control region overlapping region, has for a kth integrated track data:
Wherein, N>=2, k=1,2 ..., N, x a,k, y a,krepresent the position in integrated track target kth moment under the local coordinate system of Control Centre a of Control Centre a, x b,k, y b,krepresent the position in integrated track target kth moment under the local coordinate system of Control Centre b of Control Centre b, Δ r arepresent the oblique distance deviation of Control Centre a, θ a,krepresent that Control Centre a is at the azimuth in kth moment, namely with positive northern clockwise angle, r a,krepresent the oblique distance of Control Centre a in kth moment and integrated track target, Δ θ arepresent the azimuth angle deviation of Control Centre a, Δ r brepresent the oblique distance deviation of Control Centre b, θ b,krepresent that Control Centre b is at the azimuth in kth moment, namely with positive northern clockwise angle, r b,krepresent the oblique distance of Control Centre b in kth moment and integrated track target, Δ θ brepresent the azimuth angle deviation of Control Centre b;
To N number of integrated track data, there is 2N equation, obtain with a matrix representation 2N equation:
z＝Ax
Wherein, x is each Control Centre systematic error, and z represents coordinate difference value vector between Control Centre, and A is coefficient matrix.
This is a linear logical equations, and its normal equation is:
A TAx＝A Tz
That is, x=(A ta) -1a tz
For convenience of calculation, order:
Then: x=B -1c,
Wherein, above-mentioned various in T representing matrix turn order.
Tracking gate is one piece of region in whole tracking spatial domain, and target data is divided into and may comes from target and can not come from target two parts by it.It is centrally located at the predicted position of tracked target, and size is determined by the probability receiving correct target data.
The present invention adopts oval tracking gate, if γ is oval tracking gate thresholding size, if integrated track data z kmeet
Then z kfor candidate's echo.Namely above formula is oval tracking gate rule.
According to oval tracking gate rule, its maximum likelihood thresholding γ can be determined 0, to make the correct echo maximum possible being positioned at tracking gate from tracked target, instead of unnecessary echo.Optimal tracking thresholding γ 0expression formula be:
In formula, P dfor detection probability, β is new echo density, and M is observation dimension, | S| is residual covariance determinant of a matrix.
If an echo falls in the tracking gate of this target, then this echo is directly used in flight path renewal; If more than one above echo drops in the tracking gate of tracked target, the echo ensembles of flight path renewal so can be determined roughly by tracking gate logic, then by shortest-path method determination target echo.
Data association module, adopts oval tracking gate associate flight path with shortest-path method and put mark data.
Because the supervision of present stage each Control Centre to airborne vehicle target is separate, the cycle of Control Centre's output integrated track data information is often not identical, and therefore the moment of each Control Centre output integrated track data is often not identical yet.In fusion process, need different cycles, not integrated data in the same time to carry out time synchronized.The present invention adopts least square temporal registration method to carry out time synchronized computing to the integrated data that different Control Centre exports.
If a, b are adjacent Control Centre, its integrated track data output period is respectively τ and T1, and ratio between two is τ: T1=n, if Control Centre a is (k-1) τ to the last integrated track output time of dbjective state, integrated track output time is (k-1) τ+nT1 next time, and this just means that Control Centre a is double has n integrated track to export to Control Centre b between the output of dbjective state integrated track.Adopt least square method to merge this n time integrated track data, eliminate the asynchronous of each Control Centre integrated track output caused due to time deviation, thus the impact that elimination time deviation causes integrated track data fusion between many Control Centre.
Use Z n=[z 1, z 2..., z n] trepresent (k-1) set to n the integrated track data formation of k moment Control Centre b, z nsynchronous with the measuring value of k moment Control Centre a, if use represent z 1, z 2..., z nmerge the column vector of later integrated track data and derivative formation thereof, then the integrated track data z of Control Centre b ican be expressed as
Wherein: v irepresent the noise of integrated track data.
Above formula being rewritten into vector form is:
Z n＝W nU+V n
Wherein: V n=[v 1, v 2..., v n] t, its average is zero, and covariance matrix is: for merging former position measuring noise square difference, simultaneously
Target function J is had according to criterion of least squares:
Right ask local derviation, and make it equal zero
Thus have
Corresponding error covariance matrix for
So:
Wherein: t representing matrix in above-mentioned each formula turn order.
Adopt the method effectively can carry out time synchronizing to the integrated track data that each Control Centre exports, for the fusion of integrated track data is got ready.
The present invention adopts federal algorithm fusion-reconfigurable structure (fusion-resetmode, FR) to carry out fusion treatment to normal data.
Federated Filters is a kind of Decentralized Filter method with two-layer configuration, and he is made up of several subfilters and a senior filter, and each subfilter carries out time renewal and measurement updaue independently.The function of senior filter has:
(1) time renewal is carried out; (2) result of each filter merged, the result after fusion can feed back to each filter, as the initial value of next treatment cycle.
● fusion-reconfigurable structure (fusion-resetmode, FR)
(1) information distribution process:
Wherein: β i>0, β iinformation sharing scheme, and
(2) time of information upgrades:
Time renewal process is independently carried out in each Control Centre with between data fusion of the present invention and switching system
(3) renewal is measured:
Data fusion of the present invention and switching system do not measure, and measure to upgrade only to carry out in each Control Centre
(4) information fusion:
The partial estimation information (integrated track data) of each Control Centre is merged by following formula
In above-mentioned each formula, the covariance matrix being, be the integrated track data estimation value after merging in the kth moment, be the state vector in kth moment, the covariance matrix being is the integrated track data estimation of the Control Centre in the kth moment to the K+1 moment; It is state-transition matrix, the integrated track data estimation of the Control Centre in the kth moment, it is the state vector estimation in the Control Centre kth+1 moment, the covariance matrix being, the covariance matrix being is the Control Centre error in measurement covariance, is the measurement matrix of the Control Centre, the integrated track data of the Control Centre, i.e. metric data; The covariance matrix being is data fusion module the Local synthesis track data of each Control Centre is merged after the integrated track data estimation of global optimum, the T representing matrix in above-mentioned each formula turn order.
The present invention adopts non-sequential data asynchronous fusion algorithm to carry out fusion treatment to delayed data.
When usually scanning data fusion of the present invention and switching system from the transmission of different Control Centre, because data transfer rate is higher, there is random time lag in Internet Transmission, and each Control Centre integrated track pretreatment time is different, the situation then arriving data fusion of the present invention and switching system from the integrated track comparatively early of same target after more late integrated track likely occurs, the situation of Here it is non-sequential data.
Follow the tracks of a target, its dynamical equation can be expressed as with stochastic differential equation:
dX(t)＝A(t)X(t)dt+σ(t)dξ(t)
Wherein: X (t) ∈ R n; A (t), σ (t) are the coefficient matrixes of suitable dimension; ξ (t) is the Wiener process with zero-mean and unit increment covariance matrix; R represents real number, and t represents the time, and n is natural number, and n represents real number vector space.
If Φ is (t, s) be the state-transition matrix that A (t) is corresponding, s is the maximum lag time that each Control Centre integrated track data arrive data fusion of the present invention and switching system, T2 is the sampling period of system, then carry out discretization to the Time Continuous linear system described by above formula and obtain:
X k＝X(t k)＝Φ k,k-1X k-1+w k,k-1
Wherein:
Φ k,k-1＝Φ(t k,t k-1)
t k＝kT2
Yi Zhi, w k, k-1covariance matrix be:
Thus Control Centre integrated track data z kequation be: z k=H kx k+ v k
Wherein: v kbe average be zero, covariance matrix is R kwhite noise, H krepresent the calculation matrix in Control Centre's kth moment, k is positive integer, T representing matrix turn order.
Suppose from moment t dintegrated track data z dfor the step number l that step is delayed, that is t k-l<t d<t k-l+1, wherein, 1≤l≤s.Can obtain:
X k＝Φ k,dX d+w k,d
So:
At moment t=t k's and P k|k, obtain from moment t dintegrated track data comparatively early
z d＝H dX d+v d
Upgrade by these integrated track data and P k|k.
In above-mentioned formula, being Control Centre's system measurements matrix, is Control Centre's system measurements noise vector, and is the white Gaussian noise of 0 average; represent the integrated track data estimation in kth moment, P k|kfor covariance.
As shown in Figure 2, the second embodiment of the present invention, this system also comprises digital simulation simulation subsystem, Control Centre's running environment is simulated, the data that the Control Centre of simulating realistic produces, then produced integrated track, radar data and message data are outputted to other subsystem by output port, as the basic data source of whole data fusion and switching system; The data of other subsystems and the transmission of other Control Centre can also be received to carry out exchanging and detecting by input port simultaneously.
As shown in Figure 5, digital simulation simulation subsystem structure chart of the present invention, described digital simulation simulation subsystem comprises basic data module, script makes module, data control block, system management module, graph image module, algoritic module.
Basic data module, this module is mainly organized into system library to master data, for other modules provide necessary basic database, mainly comprises: fixing air route, fixing way point, type of aircraft, GIS data, airport parameter and parameter of transmitting messages.Fixing air route, fixing way point are by the existing practical flight air route of national regulation and way point, and fixing way point is made up of title, longitude and latitude, fixes air route and is made up of title and fixing way point information; Type of aircraft comprises conventional civil aviaton of army aircraft, and the information such as title, type, cruising speed, the climb rate, turning rate primarily of aircraft forms; GIS data is made up of national maps information as the background data of system, object presents relevant geography information intuitively, mainly comprises: the whole nation (or whole world) map, regulatory area, border, regulatory area, alarm district, no-fly zone, RVSM district, control tower district, mosaic district etc.; Airport parameter contain the whole nation airport title, longitude and latitude, this airport four word code, alternate airport four word codes, enter departure procedure and runway information etc.; Parameter of transmitting messages some underlying parameters mainly needed for flight plan, mainly comprise the information such as address of transmiting and receive telegrams at each center of transmiting and receive telegrams.
Script makes module, makes script, is made up of self-defined air route script, flight attitude synthesis script and flight plan message script three submodules.
Self-defined air route script submodule can realize user and design flight route arbitrarily, then allows corresponding aircraft run on this air route, realizes corresponding rising, decline, acceleration and deceleration by design flight route.
Flight attitude synthesis script submodule can freely design whole flight path according to the performance of aircraft, and different aeroplane performances produces different flight tracks.
According to the flight performance parameter of aircraft, air route, time, in different positions, definition sends different flight plan messages to flight plan message script submodule, can automatically reply or manually reply telegram simultaneously, the content generated also can generate telegram or hand filling telegram automatically, flight route is primarily of the air route composition in storehouse, fixing air route, can not longitude and latitude be revised, corresponding cruising altitude and speed can be revised.
Data control block, control data generation, transmission and reception, data control block can record all environmental datas and comprise all transmitting-receiving situations, comprises the setting of surveillance equipment information parameter, data output protocol arranges and data output quality controls.This module can produce many radar datas, DOD data, MH03 integrated track, ADS-B etc., also can produce flight plan data according to flight plan script; Simultaneously can export the drama parameter of each flight path and each portion exports radar track data to " assessing system " at internal network, send flight plan data by serial ports; This module can also receive corresponding flight plan.
System management module, carries out integrated management to this subsystem, comprises the filing management of system parameters management, project, can complete the filing optimization of Control Centre's information.
Graph image module, the information of the Control Centre of being simulated by map denotation, and the manufacturing process of each associated script and whole life cycle.
Algoritic module, generates alarm, collision event, flare maneuver and the data required for flight plan.
The present invention is based on advanced person's three large Control Centre, establish data fusion and switching technology scheme between Control Centre, carry out Radar Data Fusion/flight plan data and exchange transmission technology, data fusion between Control Centre/Fabric Interface technology, ATC system interconnection technique, control intermediate data emulates, AIDC Regular application Journal of Sex Research between monitoring check and evaluation technical research and control facility, unified air traffic control automation system function and configuration standard, radar control device configuration standard, the automatic cleanup standard of the dynamic message of blank pipe, development automated system data fusion exchanges and confirms verification tool and message monitoring tool, reduce message error rate, promote the automatic transfer process based on AIDC (ATSInterfacilityDataCommunications), progressively realize control handover information automatic interaction between Control Centre to share to flying quality, finally achieve closely-coupled FDP between system to merge.

Claims (9)

1. the data fusion between a Zhong Duo Control Centre and switching system, is characterized in that, comprises front end data processing subsystem, fusion and switching subsystem;
Front end data processing subsystem, by the control to input-output equipment, receives integrated track and the flying quality of multiple Control Centre, carries out parsing and quality of data supervision, and each channel data after resolving is sent to fusion and switching subsystem;
To merge and switching subsystem completes the association process of the fusion treatment of data between each Control Centre, flight visual simulation, flying quality, formed and merge flying quality and merge integrated track;
The fusion flying quality that the fusion of reception and switching subsystem also export by front end data processing subsystem and fusion integrated track output to the Control Centre's system front end corresponded by physical interface.
2. system according to claim 1, it is characterized in that, described fusion and switching subsystem comprise front end data input interface, spatial registration module, Data Quality Analysis module, temporal registration module, data association module, data fusion module, fused data display module, flying quality filtering module, flying quality analysis module, flying quality modular converter, flying quality display module, fused data and flying quality relating module, data output control module;
Front end data input interface, receiving front-end data process subsystem outputs to fusion and supervision data, these system internal format data of integrated track data of switching subsystem internal lan, and is sent to corresponding module according to data type and processes;
Spatial registration module, eliminates Coordinate Conversion distortion, these intrinsic errors of Control Centre's systematic error to the impact of syncretizing effect;
Data Quality Analysis module, to the supervision data analysis through spatial registration, adopts clustering method data to be divided into normal data, delayed data, abnormal data, exports corresponding module to and process the supervision data of various quality state respectively;
Temporal registration module, adopts least-squares algorithm to being judged to be that through Data Quality Analysis module the supervision data of normal data carry out time synchronizing;
Data association module, association flight path and some mark data, be divided into normal data to associate and delayed data correlation two parts according to the difference of the supervision quality of data of process;
Data fusion module, according to monitoring that the difference of the quality of data adopts different data fusion methods to carry out fusion treatment respectively, is divided into normal data to merge and delayed data fusion two parts;
Fused data display module, according to fusion track data, shows fusion track data by X-Y scheme mode; Flying quality filtering module, carries out filtering screening by the flying quality of input, extracts required information;
Flying quality analysis module, analyzes the information obtained, and parses the data item needed for can associating with fused data, uses for generation integrated track;
Flying quality modular converter, realizes the conversion of CRC verification algorithm, start of heading and end and indicates conversion, time showing format conversion;
Flying quality display module, according to flying quality, shows information by interface manner;
Fused data and flying quality relating module, according to fused data with wail in flying quality, flight plan, flight track associate with flight information fused data, forms integrated track data;
Data output control module, the output state of control system interior monitoring data, flying quality and integrated track data.
3. system according to claim 1, it is characterized in that, this system also comprises digital simulation simulation subsystem, Control Centre's running environment is simulated, the data that the Control Centre of simulating realistic produces, then produced integrated track, radar data and message data are outputted to other subsystem by output port, as the basic data source of whole data fusion and switching system; The data of other subsystems and the transmission of other Control Centre can also be received to carry out exchanging and detecting by input port simultaneously.
4. system according to claim 1 and 2, it is characterized in that, front end data processing subsystem comprises multi-channel data Processing Interface, data format parsing module, data format Knockdown block, quality of data checking module, multichannel flight path set up module, multichannel Target track displaying module, Human-machine Control module, internal form Knockdown block;
Multi-channel data Processing Interface, according to connecting system demand modeling physical communication interface hardware, is carried out multichannel parallel data input and output and is controlled;
Control Centre's air traffic control automation system that data format parsing module receives multiple passage exports data, resolves according to data format;
Data format Knockdown block, carries out data assembling to fusion flying quality and fusion integrated track, sends each Control Centre to by multi-channel data Processing Interface;
Quality of data checking module, carries out quality discrimination according to the flight track of resolving and flight plan data to the data that front end data processing subsystem receives, provides current data quality state;
Multichannel flight path sets up module, and parallel multi-channel data memory block is set up in the setting according to physical channel, according to different receive paths, stores all flight tracks and flight plan data according to airbound target;
Multichannel Target track displaying module, sets up the flight track data of module according to multichannel flight path, shown the flight track data of all passages, set up Concurrent Display mechanism simultaneously by X-Y scheme mode, according to selection, shows different channel datas simultaneously;
Human-machine Control module, controls interactive process; Internal form Knockdown block, carries out data assembling to the integrated track be input in front end data processing subsystem, by network uniform transmission in fusion and switching subsystem.
5. system according to claim 1 and 2, it is characterized in that, merge and switching subsystem in spatial registration module adopt following method to realize: within a period of time, there is N number of target in two pipes system center control region overlapping region, has for a kth integrated track data:
x a , k - x b , k &ap; &Delta;r a sin&theta; a , k + r a , k &Delta;&theta; a cos&theta; a , k - &Delta;r b sin&theta; b , k - r b , k &Delta;&theta; b cos&theta; b , k y a , k - y b , k &ap; &Delta;r a cos&theta; a , k - r a , k &Delta;&theta; a sin&theta; a , k - &Delta;r b cos&theta; b , k + r b , k &Delta;&theta; b sin&theta; b , k
Wherein, N>=2, k=1,2 ..., N, x a,k, y a,krepresent the position in integrated track target kth moment under the local coordinate system of Control Centre a of Control Centre a, x b,k, y b,krepresent the position in integrated track target kth moment under the local coordinate system of Control Centre b of Control Centre b, Δ r arepresent the oblique distance deviation of Control Centre a, θ a,krepresent that Control Centre a is at the azimuth in kth moment, namely with positive northern clockwise angle, r a,krepresent the oblique distance of Control Centre a in kth moment and integrated track target, Δ θ arepresent the azimuth angle deviation of Control Centre a, Δ r brepresent the oblique distance deviation of Control Centre b, θ b,krepresent that Control Centre b is at the azimuth in kth moment, namely with positive northern clockwise angle, r b,krepresent the oblique distance of Control Centre b in kth moment and integrated track target, Δ θ brepresent the azimuth angle deviation of Control Centre b;
To N number of integrated track data, there is 2N equation, as follows with a matrix representation 2N equation:
z＝Ax
Wherein, x is each Control Centre systematic error, and z represents coordinate difference value vector between Control Centre, and A is coefficient matrix;
z = &lsqb; x a , 1 - x b , 1 , y a , 1 - y b , 1 , ... , x a , N - x b , N , y a , N - y b , N &rsqb; T x = &lsqb; &Delta;r a , &Delta;&theta; a , &Delta;r b , &Delta;&theta; b &rsqb; T A = sin&theta; a , 1 r a , 1 cos&theta; a , 1 - sin&theta; b , 1 - r b , 1 cos&theta; b , 1 cos&theta; a , 1 - r a , 1 sin&theta; a , 1 - cos&theta; b , 1 r b , 1 sin&theta; b , 1 sin&theta; a , 2 r a , 2 cos&theta; a , 2 - sin&theta; b , 2 - r b , 2 cos&theta; b , 2 cos&theta; a , 2 - r a , 2 sin&theta; a , 2 - cos&theta; b , 2 r b , 2 sin&theta; b , 2 . . . . . . . . . . . . sin&theta; a , N r a , N cos&theta; a , N - sin&theta; b , N - r b , N cos&theta; b , N cos&theta; a , N - r a , N sin&theta; a , N - cos&theta; b , N r b , N sin&theta; b , N
This is a linear logical equations, and its normal equation is:
A TAx＝A Tz
That is, x=(A ta) -1a tz
For convenience of calculation, order:
A = A 1 A 2 . . . A N
A k = sin&theta; a , k r a , 1 cos&theta; a , k - sin&theta; b , k - r b , 1 cos&theta; b , k cos&theta; a , k - r a , 1 sin&theta; a , k - cos&theta; b , k r b , 1 sin&theta; b , k , k = 1 , 2 , ... , N
B k = A k T A k C k = A k T z , k = 1 , 2 , ... , N
B = B 1 + B 2 + L + B N C = C 1 + C 2 + L + C N
Then: x=B -1c,
Wherein, above-mentioned various in T representing matrix turn order.
6. system according to claim 3, is characterized in that, digital simulation simulation subsystem comprises basic data module, script makes module, data control block, system management module, graph image module, algoritic module;
Basic data module, is organized into system library by master data, for other modules provide necessary basic database;
Script makes module, makes script, is made up of self-defined air route script, flight attitude synthesis script and flight plan message script three submodules;
Data control block, control data generation, transmission and reception, data control block can record all environmental datas and comprise all transmitting-receiving situations, comprises the setting of surveillance equipment information parameter, data output protocol arranges and data output quality controls;
System management module, carries out integrated management to this digital simulation simulation subsystem, comprises the filing management of system parameters management, project;
Graph image module, the information of the Control Centre of being simulated by map denotation, and the manufacturing process of each associated script and whole life cycle; Algoritic module, generates alarm, collision event, flare maneuver and the data required for flight plan.
7. system according to claim 6, it is characterized in that, self-defined air route script submodule can realize user and design flight route arbitrarily, then allows corresponding aircraft run on this air route, realizes corresponding rising, decline, acceleration and deceleration by design flight route.
8. system according to claim 6, is characterized in that, flight attitude synthesis script submodule can freely design whole flight path according to the performance of aircraft, and different aeroplane performances produces different flight tracks.
9. system according to claim 6, it is characterized in that: according to the flight performance parameter of aircraft, air route, time, in different positions, definition sends different flight plan messages to flight plan message script submodule, can automatically reply or manually reply telegram simultaneously, the content generated can generate telegram or hand filling telegram automatically, flight route is primarily of the air route composition in storehouse, fixing air route, can not longitude and latitude be revised, corresponding cruising altitude and speed can be revised.
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