CN113422847B - Aircraft identification number unified coding method based on airborne ADS-B - Google Patents
Aircraft identification number unified coding method based on airborne ADS-B Download PDFInfo
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Abstract
The invention provides an airborne ADS-B-based aircraft identification number unified coding method, wherein an aircraft frequently encounters a control monitoring blind area in remote areas, at sea and off-shore non-airline flight, so that an aircraft driver is required to autonomously sense an air traffic control monitoring situation and complete a flight task, namely, ADS-B data distributed processing is carried out through the cooperation of own aircraft air data chains under the condition that no cooperative ADS-B ground station and flight information service exist, accurate air traffic control situation information is formed among own aircraft members, and multi-aircraft cooperative air traffic control monitoring is realized. Therefore, an airborne ADS-B-based track unified target identification number method is provided, and the method aims to solve the problem that when a civil aircraft flies across the ocean without ground ADS-B equipment, targets found by different aircraft airborne ADS-B of own are subjected to distributed processing to uniformly distribute identification numbers to other aircraft lacking peripheral flight information according to a sequence.
Description
Technical Field
The invention belongs to the technical field of air traffic control and monitoring, and particularly relates to an aircraft identification number unified coding method based on airborne ADS-B.
Background
The civil aircraft flying is based on an airborne ADS-B system to carry out non-central node networking, each aircraft in the air carries out composite tracking on an ADS-B monitoring target through distributed processing such as target perception, edge calculation, exchange service and the like, all members in the ADS-B ground networking system network can share one accurate synthetic situation map, and collaborative interval management is supported.
The method comprises the steps that composite tracking is carried out among a plurality of aircraft sensors in the air, each aircraft distributes target information monitored by the aircraft ADS-B to members in a cooperative networking system network, the ADS-B target information sent by the aircraft in a non-system is received, a cooperative processing unit of each aircraft carries out correlation resolving and identification number processing on the aircraft target and an ADS-B target of an aircraft outside the system, real-time information such as a unified identification number, a geographic position, an altitude, a speed and a course of the target is determined, and consistent composite tracks are formed among the aircraft in the air in parallel. Here, the unified identification number means that the aircraft cooperative processing units share the same target identification number segment, and the target identification numbers are respectively allocated, so that the results are consistent and multiple names or duplicate names do not occur.
The prior art includes: (1) distributed track fusion, namely, an air traffic control situation map generated based on ADS-B information, wherein the precision and real-time requirements are lower than those of a precise synthetic situation map, target number sections which are not overlapped with each other are distributed to each aircraft sensor in a network planning stage in advance, and multiple aircrafts can realize target number unification through track selection and number succession; the accurate synthetic situation map aimed at by the invention is realized based on an ADS-B networking system, and the aircrafts share the same target number segment without a network planning stage, so that the unified target number of multiple aircrafts is realized in a competitive mode. (2) The method is characterized by centralized point track fusion processing, wherein target tracks of all aircrafts in the air are converged to the same node for centralized processing, target identification number coding is completed at a single node, the problem of unified target identification number coding of multiple aircrafts is not involved, and the problems caused by centralized point track fusion processing are that the occupied channels are multiple and track delay is large. (3) The ADS-B networking application or the track compound tracking technology and the like mentioned in the related documents do not see the related content of the target uniform identification number.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the problem that the prior art is insufficient, and provides a method for uniformly numbering targets of an ADS-B (automatic dependent surveillance-broadcast) of an air traffic control monitoring system.
The invention comprises the following steps:
step 4, processing the target multiple names;
step 5, processing the target duplicate name;
and 6, deleting the target identification number.
The step 1 comprises the following steps: the aircraft cooperative processing units establish the same target identification number table, the table length is N, the table addresses are 0-N, and the target identification number table is used for storing the target identification number, wherein the unit 0 is not used, namely the initial pointer points to the unit 1, the initial values of the units except for the unit 0 are set to be null, and the target identification number table is recycled from the unit 1-N.
The step 2 comprises the following steps: if the aircraft ADS-B receives a new aircraft target, the cooperative processing unit allocates an identification number i to the new aircraft target, the identification number is registered in a target identification number table, then a target track is distributed to a network, the new aircraft target is tracked by the same identification number, if a track loss point occurs during tracking, the cooperative processing unit extrapolates the track to obtain the state estimation of the target track at the moment k
And its error covariance matrix
：
Wherein the content of the first and second substances,
is a state transition matrix for the target and,
is a process noise covariance matrix; the resulting extrapolated data is not distributed to the network.
The step 3 comprises the following steps: if the cooperative processing unit receives the flight path of the new aircraft target N, the state of the k moment is estimated to be
The correlation process with the known target i of the aircraft is as follows:
calculating the error of the two-track state estimator
：
The covariance of the above equation is due to the mutual independence of the two tracks
Comprises the following steps:
wherein the content of the first and second substances,
estimating state for new target k time
The error covariance matrix of (2);
sufficient statistics describing the similarity of flight paths i and N
Comprises the following steps:
when the two tracks correspond to the same target,
obey degree of freedom of
Chi fang distribution of wherein
Is the dimension of the track state; if it is not
If the two tracks are lower than the threshold obtained by using chi-square distribution, judging that the two tracks are related, otherwise, judging that the two tracks are not related;
if the aircraft is judged to be irrelevant, completely accepting a new aircraft target and registering the target identification number in a target identification number table; if the correlation is judged, and the aircraft is a newly received target, or the updating data of the tracked target but the identification numbers are the same, performing track fusion processing, keeping the identification number of the target unchanged, and obtaining:
step 4 comprises the following steps: if the cooperative processing unit finds more than two targets in the distributed processing process, namely the same target is distributed to the network by two aircrafts by using different identification numbers, the cooperative processing unit carries out multi-name processing on the target, reserves the identification number with a small numerical value, discards the identification number with a large numerical value (namely, the different platforms respectively find the same flight path, discards the code with a large numerical value and reserves the code with a small numerical value), then sends a related instruction to the network, and all aircrafts adopt the reserved identification numbers to merge the targets after receiving the related instruction, and delete the identification numbers to be discarded from the target identification number table.
The step 5 comprises the following steps: if the cooperative processing unit finds the target duplicate name in the distributed processing process, namely two different targets are distributed to the network by two aircrafts by using the same identification number, the target duplicate name processing is carried out, an aircraft target report with a small aircraft identification number is received, an aircraft target report with a large aircraft identification number is discarded, a decorrelation instruction is sent out, after the aircraft with the large aircraft identification number finds the duplicate name or receives the instruction, an identification number is distributed to the target again and is distributed to the network, and all aircrafts register new identification numbers in a target identification number table after receiving the identification numbers.
The step 6 comprises the following steps: if the cooperative processing unit finds that the flight path disappears or is invalid in the distributed processing process, the flight path file is deleted, and the target identification number is deleted from the target identification number table.
The advantages of the invention are mainly reflected in that:
(1) according to the invention, distributed processing is carried out on ADS-B data by each aircraft, target unified identification number coding can be realized, and the problem of consistency of shared synthetic situation maps when aviation in a unified control area is carried out without a central node is solved;
(2) the problem of target unified identification number in distributed processing of multiple aircrafts is abstracted into a processing rule, so that the development, maintenance and upgrading of the software of an aircraft cooperative processing unit are facilitated;
(2) and each aircraft cooperative processing unit executes the same program to realize the multi-aircraft ADS-B target compound tracking, so that the software productization of the heterogeneous aircraft cooperative processing unit is facilitated.
Drawings
The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
FIG. 1 is a schematic diagram of a target ID table of a synergistic processing unit.
Fig. 2 is a schematic diagram of a target unified id processing flow of the co-processing unit.
Detailed Description
The invention discloses an airborne ADS-B-based aircraft identification number unified coding method, aiming at an air traffic control monitoring system formed by airborne ADS-B monitoring information acquired by each airborne aircraft cooperative processing unit, a unified target identification number processing flow is established, wherein the flow comprises the steps of establishing a target identification number table, distributing target identification numbers, sharing a far-end target, processing a plurality of targets, processing a target duplicate name and deleting the target identification number. Specifically, each aircraft cooperative processing unit completes the target uniform identification number by executing the following steps:
1. the cooperative processing units of the aircrafts establish the same target identification number table with the length N and the table addresses 0-N for storing the ADS-B target identification number, wherein the 0 unit is not used, namely the initial pointer points to the 1 unit, the initial values of other units are set to be null, and the target identification number table is recycled from 1-63, as shown in FIG. 1.
2. With reference to fig. 2, the cooperative processing unit receives the ADS-B data (P) of the online aircraft known by the aircraft and the new ADS-B data (J) of the unknown aircraft, performs the unified target identification number processing in the "correlation-fusion" process with the established target track (T), and iteratively generates the target track. The target unified identifier processing logic is as follows:
(1) if the ADS-B of the aircraft receives a new aircraft target, the cooperative processing unit allocates an identification number i to the target, the identification number is registered in a target identification number table, then a target track is distributed to a network, the target is tracked by the same identification number, if a track loss point occurs during tracking, the cooperative processing unit extrapolates the track to obtain the target track at the moment kState estimation
And its error covariance matrix
：
Wherein the content of the first and second substances,
is a state transition matrix for the target and,
is a process noise covariance matrix; the resulting extrapolated data is not distributed to the network.
(2) If the co-processing unit receives the new flight path of the aircraft target N, its state at time k is estimated to be
The process should be "correlated" with known targets of the aircraft as follows:
the error of the two track estimators is calculated:
the covariance of the above equation is due to the mutual independence of the two tracks
Comprises the following steps:
wherein the content of the first and second substances,
estimating state for new target k time
The error covariance matrix of (2);
therefore, sufficient statistics to describe the similarity of tracks i and N
Comprises the following steps:
when the two tracks correspond to the same target,
obey degree of freedom of
Chi fang distribution of wherein
Is the dimension of the track state; thus, if
If the two tracks are lower than the threshold obtained by using chi-square distribution, the two tracks are judged to be 'relevant', otherwise, the two tracks are considered to be 'irrelevant'.
If the judgment result is 'irrelevant', completely accepting the new target and registering the target identification number in a target identification number table; if the correlation exists and the aircraft is a newly received target (without an identification number) or is the updating data of a tracked target but the identification numbers are the same, performing track fusion processing, and keeping the identification number of the target unchanged to obtain:
(3) if the cooperative processing unit finds multiple targets in the distributed processing process, namely the same target is distributed to the network by two aircrafts by using different identification numbers, the multiple targets are processed, the identification number with a small numerical value is reserved, the identification number with a large numerical value is discarded, then a 'correlation' instruction is sent to the network, all aircrafts adopt the reserved identification numbers to merge the targets after receiving the instruction, and the identification number to be discarded is deleted from the identification number table.
(4) If the cooperative processing unit finds the target duplicate name in the distributed processing process, namely two different targets are distributed to the network by two aircrafts by using the same identification number, the target duplicate name processing is carried out, an aircraft target report with a small aircraft identification number is received, an aircraft target report with a large aircraft identification number is discarded, a decorrelation instruction is sent out, after the aircraft with the large aircraft identification number finds the duplicate name or receives the instruction, the identification number is distributed to the target again and distributed to the network, and all aircrafts register new identification numbers in a target identification number table after receiving the new identification numbers.
(5) If the cooperative processing unit finds that the flight path disappears or is invalid in the distributed processing process, the flight path file is deleted, and the target identification number is deleted from the identification number table.
3. All sensors in the network cooperate with the processing unit to perform the same operations.
Examples
The method comprises the following steps that A, B, C, D four own aircraft fly in an ocean area, the total number of other aircraft targets needing to be identified in the ADS-B coverage space of the four aircraft carriers is not more than 60, and a uniform target identification number process in ADS-B data distributed processing is as follows:
(1) establishing a target number list, wherein each airborne cooperative processing unit establishes the same target number list, the length of the list is 64, and the address of the list is 0-63, wherein 0 unit is filled with 0 to indicate 'unused', the actual usage is 1-63, the FFH is initially filled with 'empty', and as shown in fig. 1, N is 63. The target code number is expressed by one byte, and the lower 6 bits are effective.
(2) And allocating a target identification number, and receiving the flight path of the aircraft along with the cooperative processing unit of the aircraft-mounted ADS-B of the aircraft. Assuming that the aircraft A receives a new target track, the cooperative processing unit of the aircraft A searches a target identification number table for a 'null' unit, firstly finds that the unit No. 1 is 'null', assigns 1 as an identification number to the target, writes 1 into the unit No. 1, adds 1 to a pointer, and then distributes the target track No. 1 generated by processing to B, C, D. B. C, D, after receiving the target number 1, writing the target identification number "1" into the unit number 1 of its own target identification number table, adding 1 to the pointer, as the a aircraft continuously tracks the target number 1, continuously generating the target number 1 track update data to distribute into the network, B, C, D aircraft continuously receiving the target, which is equivalent to continuously tracking the target number 1.
(3) And sharing the remote target, and similarly, if the D aircraft receives a new target, searching a null unit in a target identification number table by the cooperative processing unit of the D aircraft, firstly searching that the cell No. 2 is null, assigning 2 as an identification number to the target, writing the cell No. 2 into the cell No. 2, adding 1 to a pointer, and then distributing the target track No. 2 generated by processing to A, B, C. A. B, C, after receiving object number 2, writing the number "2" into object number table unit number 2, adding 1 to the pointer, with D aircraft continuously tracking and information distributing, B, C, D aircraft is equivalent to continuously tracking object number 2.
(4) The targets are fused and shared, if the No. 2 target is in a maneuvering state, the No. 2 target continuously moves to enter an A, D airborne ADS-B overlapping coverage range, a cooperative processing unit of the A carries out 'correlation' and fusion on the built track of the No. 2 target, a track point received by the aircraft and the No. 2 track reported by the D aircraft in the process of processing track data, the fused track is identified by the identification number 2 and distributed to the inside of the network, and after the No. 2 target track is received by the B, C, D, the data of the No. 2 target track are updated; the aircraft performs the same treatment in the next cycle.
(5) Target multiple processing, if A, B two aircrafts receive the same target at the same time, A aircrafts identify the target with identification number 3, B aircrafts identify the target with identification number 4, all distribute to the network, after all aircrafts receive, the identification number 3 is written into the unit No. 3 of the target identification number table, the unit No. 4 is written into the unit No. 4, the pointer is added with 2 to point to 5, then the fusion processing identifies the identification number 3 and the identification number 4 as one target, i.e., multiple occurrences, at which time the aircraft (1 or more) that found the multiple occurrences send a "correlation" command to the network, informing the target of number 3, 4, and retains the code number "3", discards the code number "4", deletes the code number 4 from the code number table after all aircraft have received it, i.e. unit number 4 is restored to the "empty" state, but the pointer is not modified, and then the target is tracked with identification number 3.
(6) And (3) target renaming processing, if A, B two aircrafts respectively receive a new target by using the 5 # identifier and distribute the new target to a network, all aircrafts perform 'correlation' processing after receiving the target, when two 5 # targets are identified not to be the same target, namely the renaming occurs, the 5 # target reported by the A aircraft can be defaulted, the 5 # target reported by the B aircraft is discarded, a 'decorrelation' instruction is sent out, after the B aircraft finds the renaming or receives the 'decorrelation' instruction, the target is identified as 6 # and is distributed to the network again, then the A aircraft tracks and distributes the targets by using the identification numbers 5 and B aircraft with the identification number 6, the C, D aircraft is equivalent to track the targets by using the identification numbers 5 and 6, and pointers point to 7.
(7) And deleting the target identification number, and if the A aircraft does not receive the No. 1 target after the target and/or the aircraft move for a period of time, the cooperative processing unit of the A extrapolates the No. 1 target track, but the extrapolated track data is not distributed to the network. If ADS-B information is not received in a plurality of continuous extrapolation periods and a remote report of the target is not received, judging that the No. 1 target track is terminated, deleting the No. 1 target track file, and deleting the identification number 1 from the target identification number table, namely recovering the No. 1 unit to be in an empty state, wherein the pointer is not modified. B. C, D the aircraft performs the same process and removes the identification number 1 from the target identification number table.
Compared with the existing distributed track fusion method, the target unified identification number coding method provided by the invention does not need network planning in advance, multiple aircrafts share the same target identification number section, the target unified identification in distributed ADS-B data processing is realized in a competition mode, and target data detected by each airborne ADS-B receiver in the network is used for track updating, so that the point density of a unified track is higher, the accuracy is higher, and the time delay is smaller. The existing distributed track fusion needs to carry out network planning in advance, target identification number sections which are not overlapped with each other are distributed for each sensor aircraft, multiple aircraft realize target identification number unification through track optimization and identification number succession, the optimization process of the target identification number unification leads to small track point density, and track precision and time delay indexes are difficult to meet the requirement of reducing flight intervals of the international civil aviation organization.
Compared with the existing centralized point trace fusion method, the target unified identification number coding method provided by the invention does not depend on an ADS-B ground station, the same software is run by the cooperative processing units of all aircrafts in the air, the same algorithm is executed, the target unified identification number coding is automatically realized, and the method is particularly suitable for ocean-crossing flight and time delay sensitive application in scarce ground facilities environments such as oceans and deserts. The existing centralized point track fusion is only suitable for gathering ADS-B tracks of multiple aircrafts to an ADS-B ground station for centralized processing, forming a unified track and then returning the unified track to each aircraft, so that the existing centralized point track fusion occupies a plurality of channels, has large processing time delay and high requirements on ground facilities, and is difficult to meet the application requirements of ADS-B flying in remote areas and ocean areas.
The invention provides a method for uniformly coding an aircraft identification number based on airborne ADS-B, which has a plurality of methods and ways for implementing the technical scheme, and the above description is only a preferred embodiment of the invention, and it should be noted that, for those skilled in the art, a plurality of improvements and embellishments can be made without departing from the principle of the invention, and these improvements and embellishments should also be regarded as the protection scope of the invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (4)
1. An aircraft identification number unified coding method based on airborne ADS-B is characterized by comprising the following steps:
step 1, establishing a target number list;
step 2, distributing target identification numbers;
step 3, sharing the remote target;
step 4, processing the target multiple names;
step 5, processing the target duplicate name;
step 6, deleting the target identification number;
the step 1 comprises the following steps: the method comprises the steps that the same target identification number table, the table length N and the table addresses 0-N are established by the aircraft cooperative processing units and used for storing the target identification numbers, wherein the unit 0 is not used, namely an initial pointer points to the unit 1, the initial values of the units except for the unit 0 are set to be null, and the target identification number table is recycled from the unit 1-N;
the step 2 comprises the following steps: if the aircraft ADS-B receives a new aircraft target, the cooperative processing unit allocates an identification number i to the new aircraft target, the identification number is registered in a target identification number table, then a target track is distributed to a network, the new aircraft target is tracked by the same identification number, if a track loss point occurs during tracking, the cooperative processing unit extrapolates the track to obtain the state estimation of the target track at the moment k
And its error covariance matrix
Wherein, Fk-1Is targeted toState transition matrix, Qk-1Is a process noise covariance matrix; the obtained extrapolated data is not distributed to the network;
the step 3 comprises the following steps: if the cooperative processing unit receives the flight path of the new aircraft target N, the state of the k moment is estimated to be
The process should be correlated with the known target i of the aircraft as follows:
calculating the error t of the two-track state estimatork|k：
The covariance of the above equation is due to the mutual independence of the two tracks
Comprises the following steps:
wherein the content of the first and second substances,
estimating state for new target k time
The error covariance matrix of (2);
sufficient statistics describing the similarity of flight paths i and N
Comprises the following steps:
when the two tracks correspond to the same target,
obey degree of freedom nxChi-square distribution of (a), wherein nxIs the dimension of the track state; if it is not
If the two tracks are lower than the threshold obtained by using chi-square distribution, judging that the two tracks are related, otherwise, judging that the two tracks are not related;
if the aircraft is judged to be irrelevant, completely accepting a new aircraft target and registering the target identification number in a target identification number table; if the correlation is judged, and the aircraft is a newly received target, or the updating data of the tracked target but the identification numbers are the same, performing track fusion processing, keeping the identification number of the target unchanged, and obtaining:
2. the method of claim 1, wherein step 4 comprises: if the cooperative processing unit finds more than two targets in the distributed processing process, namely the same target is distributed to the network by two aircrafts by using different identification numbers, the cooperative processing unit carries out multi-name processing on the target, reserves the identification number with a small numerical value, discards the identification number with a large numerical value, then sends a related instruction to the network, and all aircrafts adopt the reserved identification numbers to merge the targets after receiving the instruction, and delete the identification number to be discarded from the target identification number table.
3. The method of claim 2, wherein step 5 comprises: if the cooperative processing unit finds the target duplicate name in the distributed processing process, namely two different targets are distributed to the network by two aircrafts by using the same identification number, the target duplicate name processing is carried out, an aircraft target report with a small aircraft identification number is received, an aircraft target report with a large aircraft identification number is discarded, a decorrelation instruction is sent out, after the aircraft with the large aircraft identification number finds the duplicate name or receives the instruction, an identification number is distributed to the target again and is distributed to the network, and all aircrafts register new identification numbers in a target identification number table after receiving the identification numbers.
4. The method of claim 3, wherein step 6 comprises: if the cooperative processing unit finds that the flight path disappears or is invalid in the distributed processing process, the flight path file is deleted, and the target identification number is deleted from the target identification number table.
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