CN113532471A - Processing method, equipment and medium for multi-source flight trajectory data fusion - Google Patents
Processing method, equipment and medium for multi-source flight trajectory data fusion Download PDFInfo
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Abstract
The application discloses a processing method, a processing device and a processing medium for multi-source flight trajectory data fusion, which are used for solving the technical problem that the existing flight monitoring technology can not effectively monitor the flight position of an aircraft under different operation scenes and geographic environments. The method comprises the following steps: acquiring flight data uploaded by a plurality of flight monitoring devices in real time; determining a preset storage area corresponding to the flight data according to the aircraft ID, adding the flight data into the preset storage area, and unifying the data structure of the flight data into a preset data structure according to the preset storage area and a preset data unification template; determining the number of flight data of a timestamp corresponding to a preset storage area in any preset time interval; and determining the position information of the aircraft corresponding to the preset storage area based on the quantity of the flight data. The method is used for fusing various types of flight data, so that the flight position of the aircraft can be continuously and effectively acquired.
Description
Technical Field
The application relates to the technical field of general aviation, in particular to a processing method, equipment and medium for multi-source flight trajectory data fusion.
Background
In the process of flying, a controller needs to monitor the flying dynamics of an aircraft in real time, including the longitude, latitude and elevation of the aircraft, so as to better provide the aircraft with flying services.
At present, the technologies applied to the aviation aircraft mainly include: 1) flight monitoring technology based on ADS-B (Automatic Dependent-Broadcast Automatic correlation monitoring system); 2) a flight monitoring technology based on Beidou positioning and short messages; 3) 4G/5G-based flight monitoring technology; 4) secondary radar flight monitoring techniques.
However, in the field of general aviation, the operation task of the general aviation aircraft has the characteristics of wide flight range, low flight altitude and the like. Therefore, the general aviation aircraft is not completely suitable for ground ADS-B receiving equipment and cannot complete continuous flight monitoring and positioning. Regarding the flight monitoring technology based on Beidou positioning and short messages, the situation that signals are lost or positioning cannot be carried out frequently occurs because the aircraft flies in low altitude, and satellite signals are blocked by mountains, cabins and propellers. And the flight monitoring technology of Beidou positioning and short messages has poor real-time performance, and the real-time performance of flight monitoring cannot be effectively solved. With respect to 4G/5G-based flight monitoring technologies, the 4G/5G signal has few or no base stations in forest areas or mountainous areas with rare people, and cannot provide the transmission capability of positioning data. Regarding the secondary radar flight monitoring technology, the secondary radar has a small monitoring range and is greatly influenced by the installation position and the terrain, and the secondary radar is not completely suitable for the general aviation aircraft.
Disclosure of Invention
The embodiment of the application provides a processing method, equipment and medium for multi-source flight trajectory data fusion, and aims to solve the technical problem that the existing flight monitoring technology cannot effectively monitor the real-time position of the flight of an aircraft under different operation scenes and geographic environments.
In a first aspect, an embodiment of the present application provides a processing method for multi-source flight trajectory data fusion, where the method includes: acquiring flight data uploaded by a plurality of flight monitoring devices in real time; the flight data carries position information, a timestamp and an aircraft ID; determining a preset storage area corresponding to the flight data according to the aircraft ID, adding the flight data into the preset storage area, and unifying the data structure of the flight data into a preset data structure according to the preset storage area and a preset data unification template; the preset storage areas correspond to the aircraft IDs one by one; determining the number of flight data of a timestamp corresponding to a preset storage area in any preset time interval; and determining the position information of the aircraft corresponding to the preset storage area based on the quantity of the flight data.
According to the processing method provided by the embodiment of the application, the server (hereinafter referred to as the server) for monitoring the state of the airplane obtains the flight data of each data type corresponding to a plurality of aircrafts by obtaining the flight data in real time; based on the difference of the aircraft ID corresponding to each aircraft, the correspondence between the aircraft and each flight data is realized. The flight data corresponding to each aircraft are imported into the preset storage areas corresponding to the aircraft, so that the server can perform partition processing on the flight data corresponding to each aircraft while acquiring the flight data of a plurality of aircraft. The data structures of the flight data in the preset storage areas are unified into the preset data structures, so that the subsequent integration processing of various types of airplane signals is facilitated. Invalid data in the flight data are removed through a preset cleaning method, the effectiveness of the data to be processed is improved, and the interference caused by the invalid data is reduced. The current position information of each aircraft communicated with the server is determined through the timestamp and the received flight data of each source, so that the flight tracks of each aircraft can be completely acquired, and the server can effectively monitor the current position information of the aircraft in different operation scenes and geographic environments.
In one implementation of the present application, an identification code in flight data is obtained; wherein the identification code is used for distinguishing flight data types; the flight data types include at least any one or more of: ADS-B signals, Beidou short messages, 4G/5G signals and secondary radar signals; determining a corresponding statistical table of the flight data in a preset storage area according to the identification code; wherein, the identification code corresponds to the statistical table one by one; the statistical table stores the latest timestamp flight data in real time and adds the latest timestamp flight data to the last bit of the statistical table; when the statistical table receives the latest timestamp flight data, acquiring the coordinate position of the original last-position flight data in the statistical table; wherein the coordinate location comprises a longitude, a latitude, and an altitude of the aircraft; and when the aircraft position corresponding to the latest timestamp flight data is detected and is behind the aircraft position corresponding to the original latest flight data, determining the latest timestamp flight data as invalid data, and removing the invalid data.
According to the processing method provided by the embodiment of the application, the flight data are distinguished through the data types by acquiring the identification codes. And storing the flight data with the same identification code in a statistical table, and distinguishing the flight data of various types, so that the server can obtain the current position information of the aircraft corresponding to the flight data of a certain type. The latest timestamp flight data is added to the last bit of the statistical table, so that the server acquires the signal acquisition condition of the flight data of a certain type of signals corresponding to the aircraft under each timestamp. By comparing the front-back relation between the coordinates in the latest timestamp flight data and the coordinates in the original last-bit flight data, invalid delayed data are removed, the current position information of the aircraft can be calculated more accurately, and the anti-interference performance of the data is improved.
In one implementation manner of the application, the number of flight data corresponding to an aircraft under any timestamp is determined based on a preset time interval and a preset storage area; when the number of the flight data is 1, determining the current position information of the aircraft according to the position information carried in the flight data; when the number of the flight data is larger than 1, determining flight weights respectively corresponding to the flight data based on a preset weight algorithm, and further determining the current position information of the aircraft according to the flight data and the flight weights.
In one implementation manner of the application, a data type corresponding to each flight data is determined, and a prediction weight corresponding to each flight data is determined according to the data type and a preset type weight algorithm; determining the precision weight of each flight data according to the positioning precision of each flight data; determining a signal strength weight of each flight data based on the signal strength of the flight data; determining an inertial navigation value of each flight data through the coordinates and the predicted coordinates in each flight data, and determining an inertial navigation weight of each flight data through the inertial navigation value; the predicted coordinates are coordinates under the timestamps corresponding to the flight data predicted according to the coordinates and the speed under any timestamp before the timestamp corresponding to the flight data; and determining the average value among the prediction weight, the intensity weight, the signal precision weight and the inertial navigation weight of each flight data so as to determine the average value corresponding to each flight data as the flight weight of each flight data.
In one implementation manner of the present application, preset calibration values corresponding to each data type are obtained; and determining the predicted weight of each flight data by substituting the preset calibration value into a preset type weight algorithm.
In one implementation of the present application, each is obtainedLongitude data, latitude data, altitude data, heading data, navigational speed data and flight weight corresponding to each flight data in each flight data; according to the formula E ═ E (E)A*QA+ENorth China*QNorth China+EG*QG+EThunder*QThunder) Determining longitude information of the aircraft, wherein EARepresenting longitude in ADS-B signal, representing longitude in the Beidou short message, EGLongitude in 4G/5G signals, EThunderRepresents the longitude in the secondary radar signal; and according to the formula W ═ WA*QA+WNorth China*QNorth China+WG*QG+WThunder*QThunder) Determining latitude information of the aircraft, wherein WARepresenting latitude, W, in the ADS-B signalNorth ChinaIndicates the latitude, W, in the Beidou short messageGIndicates the latitude, W, in the 4G/5G signalThunderRepresenting the latitude in the secondary radar signal; and according to the formula H ═ H (H)A*QA+HNorth China*QNorth China+HG*QG+HThunder*QThunder) Determining altitude information of the aircraft, wherein HARepresenting the height, H, in the ADS-B signalNorth ChinaIndicates the height H in the Beidou short messageGIndicating the height, H, in the 4G/5G signalThunderRepresenting altitude in the secondary radar signal; and according to the formula D ═ D (D)A*QA+DNorth China*QNorth China+DG*QG+DThunder*QThunder) Determining heading information of the aircraft, wherein DAIndicating the heading in the ADS-B signal, DNorth ChinaIndicates the heading in the Beidou short message, DGIndicating heading, D, in 4G/5G signalsThunderRepresenting a heading in the secondary radar signal; and according to the formula S ═ S (S)A*QA+SNorth China*QNorth China+SG*QG+S*QThunder) Determining speed information of the aircraft, wherein SARepresenting the speed of flight in ADS-B signals, S representing the speed of flight in Beidou short messages, SGRepresenting speed, S, in 4G/5G signalsThunderRepresenting the speed of flight in the secondary radar signal; wherein Q isARepresentation of ADSFlight weight, Q, for the B signalNorth ChinaRepresents the flight weight Q corresponding to the Beidou short messageGRepresenting flight weights, Q, corresponding to the 4G/5G signalsThunderRepresenting the flight weight corresponding to the secondary radar signal; and determining the current position information of the aircraft according to the longitude information of the aircraft, the latitude information of the aircraft, the altitude information of the aircraft, the course information of the aircraft and the speed information of the aircraft.
In one implementation of the present application, an observation aircraft is determined based on any aircraft ID; establishing a first three-dimensional image by taking time, longitude and latitude as coordinate axes based on the current position information of the observation aircraft, wherein the rendering color of the first three-dimensional image is a first color; determining a predicted position of an observation aircraft; the predicted position is a position under a current timestamp corresponding to the current position information of the observation aircraft and a next timestamp; establishing a second three-dimensional image by taking time, longitude and latitude as coordinate axes based on the predicted position, wherein the rendering color of the second three-dimensional image is a second color; obtaining the fitting degree of the first three-dimensional image and the second three-dimensional image under the same timestamp; and when the fitting degree is greater than a preset threshold value, generating alarm prompt information and sending the alarm prompt information to the observation aircraft.
According to the processing method provided by the embodiment of the application, the flight condition of the aircraft is pre-judged by comparing the fitting degree between the first three-dimensional image and the second three-dimensional image. When the fitting degree is larger than a preset threshold value, the server determines that the aircraft has flight risks, and generates alarm prompt information to be sent to the observation aircraft, so that the aircraft can perform safety inspection on the aircraft.
In one implementation of the application, flight data is input into a trained least square algorithm model to correct the minimum observed value of the flight data; inputting the corrected flight data into a trained Kalman filtering model to filter out clutter in the flight data.
In a second aspect, an embodiment of the present application further provides a processing device for multi-source flight trajectory data fusion, where the device includes: a processor; and a memory having executable code stored thereon, the executable code, when executed, causing the processor to perform one of the above-described processing methods for multi-source flight trajectory data fusion.
In a third aspect, an embodiment of the present application further provides a non-volatile computer storage medium, on which computer instructions are stored, so that a computer executes the above processing method for multi-source flight trajectory data fusion.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a processing method for multi-source flight trajectory data fusion according to an embodiment of the present disclosure;
fig. 2 is a schematic view of an internal structure of a processing device for multi-source flight trajectory data fusion provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
General aviation aircraft during flight, controllers need to monitor the flight dynamics (including the longitude, latitude, and elevation of the aircraft) of the aircraft in real time in order to better provide flight services to the aircraft. At present, civil aviation has relatively perfect monitoring and controlling means for aircrafts, and general aviation has low flying speed, low height and complex and various operating environments, so that no effective means can well complete the flight monitoring task of general aviation. With the rapid increase of the demand of China for general aviation flight in recent years, the problem of flight monitoring needs to be solved urgently.
The processing method for the multi-source flight trajectory data fusion is used for dynamic flight monitoring of an aviation aircraft, and an execution main body of the processing method is a server.
The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
Fig. 1 is a processing method for multi-source flight trajectory data fusion provided in an embodiment of the present application. As shown in fig. 1, the processing method provided in the embodiment of the present application mainly includes the following steps:
It should be noted that the flight monitoring device at least comprises an ADS-B signal monitoring device, a Beidou short message monitoring device, a 4G/5G signal monitoring device and a secondary radar monitoring device; and the flight monitoring device is used for detecting the pre-associated aircraft, generating flight data of the aircraft and sending the flight data of the pre-associated aircraft to the server. Wherein the flight data comprises a timestamp, a location accuracy of the aircraft, a signal strength, a data type, a longitude of the aircraft, a latitude of the aircraft, an altitude of the aircraft, a heading of the aircraft, and a speed of the aircraft. Wherein the time stamp represents a time at which the flight monitoring device generated the flight data. In addition, the data types of the flight data at least comprise ADS-B signals, Beidou short messages, 4G/5G signals and secondary radar signals. Further, the specific type of aircraft is not limited, but it is desirable to have an aircraft ID that enables differentiation between aircraft. In addition, server in this application is used for obtaining a plurality of flight data of the multiple sources (data type) of a plurality of aircraft that each flight monitoring device uploaded in real time, detect the aircraft ID in a plurality of flight data, in order to distinguish a plurality of flight data according to aircraft ID (aircraft), distinguish the flight data of multiple data type once more through the identification code, then, arrange each data according to the precedence order of timestamp, and then integrate into a flight data with the flight data of many multiple sources under the same timestamp, and then confirm the current position information of aircraft under current timestamp.
Specifically, the server and the flight monitoring device communicate with each other through a TCP protocol. Wherein, flight monitoring device includes ADS-B receiver, big dipper receiver, 4G 5G signal receiver and secondary radar signal receiver at least to realize receiving polytype flight data through a plurality of flight data receiving arrangement, if: ADS-B signals, Beidou short messages, 4G/5G signals and secondary radar signals. The server is connected with various types of flight data receiving devices, so that various types of flight data can be received simultaneously and in real time.
It should be noted that the flight data includes an aircraft ID of an aircraft corresponding to the flight data, and the server establishes a preset storage area in advance for each aircraft according to the aircraft ID (each aircraft has a unique preset storage area). The preset flight data is used for storing flight data of an aircraft corresponding to the aircraft ID, and each preset storage area at least comprises 5 statistical tables for storing: all flight data tables, ADS-B signal flight data tables, Beidou short message flight data reports, 4G/5G signal flight data tables and secondary radar signal flight data tables.
In particular, there is a flight data reader for resolving flight data. After the server acquires a plurality of flight data, the server inputs the flight data into the signal reader, and the signal reader feeds back the aircraft ID corresponding to each flight data, so that the server acquires the aircraft ID corresponding to each flight data.
In addition, it should be noted that the server stores a preset data unification template in advance, wherein the preset data unification template at least comprises the longitude of the aircraft, the latitude of the aircraft, the altitude of the aircraft, the heading of the aircraft, the speed of the aircraft, the ID of the aircraft, and the identification code.
Specifically, the server is connected with the signal reader, the signal reader reads each flight data, and feeds back data such as longitude of the aircraft, latitude of the aircraft, altitude of the aircraft, heading of the aircraft and speed of the aircraft, the aircraft ID and the identification code in each flight data to the server, so that the server inputs data such as longitude of the aircraft, latitude of the aircraft, altitude of the aircraft, heading of the aircraft and speed of the aircraft, the aircraft ID and the identification code of each flight data into a preset data unification template, and obtains the flight data with unified data structures, thereby realizing unification of the flight data structures. Then, the server acquires the aircraft ID in the unified flight data of each data structure, simultaneously acquires the corresponding relation between the pre-stored aircraft ID and the preset storage area, and stores the unified flight data of the data structure corresponding to the aircraft ID into the preset storage area corresponding to the aircraft ID.
And at this point, the unification and storage of the data structure of the flight data are completed.
After the data structure of the flight data is unified, invalid data in the flight data with the unified data structure needs to be removed.
Specifically, after the server receives the flight data with unified data structures, the server collects identification codes in the flight data; it should be noted that each identification code is unique and is used for distinguishing the data type of each flight data; after the server acquires the identification code of each flight data, the server acquires the corresponding relation between the pre-stored identification code (flight data type) and the statistical table. It should be noted that the identification codes correspond to statistical tables one by one, and one statistical table contains flight data of one data type. And determining a statistical table corresponding to the flight data (it should be noted that the server processes the flight data according to the sequence of the receiving time, so that the time stamp of the flight data input into the statistical table is the latest time stamp each time). The server acquires coordinate information of the latest timestamp flight data, wherein the coordinate information comprises the longitude of the aircraft, the latitude of the aircraft and the altitude of the aircraft; and acquiring the coordinate position of original last-bit flight data of a statistical table corresponding to the latest timestamp flight data, (wherein the statistical table receives the latest timestamp flight data in real time and adds the latest timestamp flight data to the last bit of the statistical table when the coordinate position of the latest timestamp flight data is determined to be before the coordinate position of the original last-bit flight data), and if the coordinate in the latest timestamp flight data is detected to be behind the coordinate of the original last-bit flight data, the server deletes the latest timestamp flight data from a preset storage area. To complete the cleaning of invalid data.
And 103, determining the quantity of the flight data of the timestamp corresponding to the preset storage area in any preset time interval.
It should be noted that the preset time interval is any feasible time period, for example, 20 seconds, 32 seconds, 40 seconds, and the like, and one preset time interval corresponds to one timestamp; the time stamp is time information carried in the flight data that is used to represent the time at which the flight data was generated by the aircraft. Specifically, the server detects how many pieces of flight data are stored in a preset storage area by using a preset time period as an interval and using a timestamp of the preset time interval pair as a detection result.
And step 104, determining the position information of the aircraft corresponding to the preset storage area based on the number of the flight data.
It should be noted that the position information includes at least the longitude of the aircraft, the latitude of the aircraft, the altitude of the aircraft, the heading of the aircraft, and the speed of the aircraft. Wherein the heading is represented by an angle rotated clockwise from true north, which is 000 degrees, and then one turn clockwise for a total of 360 degrees.
Specifically, when the server detects that the number of the corresponding flight data under the current timestamp is 1, the server acquires the position information (the longitude of the aircraft, the latitude of the aircraft, the altitude of the aircraft, the heading of the aircraft and the speed of the aircraft) carried in the unique flight data, and sets the position information as the position information of the aircraft under the current timestamp; when the server detects that the number of the flight data under the current timestamp is larger than 1, the server acquires the identification codes in the flight data, and simultaneously acquires the corresponding relation between the pre-stored identification codes and the data types, so as to determine the data types corresponding to the flight data. Meanwhile, a preset calibration weight database is stored and used for storing preset calibration values corresponding to the flight data of each data type, and the server inputs the data type of the flight data into the preset calibration weight database to obtain the preset calibration value corresponding to the flight data; substituting the preset calibration value into a preset type weight algorithm: and calculating the predicted weight of each flight data. Wherein the preset constant is used for correcting the preset calibration value again. Further, there is a preset height database for storing preset constants at each height, wherein the preset constants may be obtained by a person skilled in the art through a plurality of experiments. (thus far, the calculation of the predicted weights for each flight data is done).
The server obtains the positioning accuracy corresponding to the flight data through the data reader, a preset accuracy weight database exists, and it should be noted that the preset accuracy weight database is a prestored corresponding relationship between the positioning accuracy and the accuracy weight. Bringing the positioning precision into a preset precision weight database to obtain the precision weight under the current precision; (thus, the acquisition of the precision weight of each flight data is completed).
The server acquires the signal strength carried by each flight data, and a preset signal strength weight database exists, which is to be noted that the preset signal strength weight database is a pre-stored corresponding relationship between the signal strength and the signal strength weight. And bringing the signal intensity into a preset signal intensity weight database, and acquiring a signal intensity weight corresponding to the signal intensity in the preset signal intensity weight database. (thus, the acquisition of the signal strength weight of each flight data is completed).
The server acquires coordinates in the flight data (wherein the coordinates comprise the longitude of the aircraft, the latitude of the aircraft and the altitude of the aircraft), acquires coordinates under any timestamp before a timestamp carried by the flight data and a first speed, and according to a formula: and calculating the predicted coordinate under the time stamp corresponding to the flight data, and subtracting the predicted coordinate and the coordinate to obtain the difference value between the predicted coordinate and the coordinate in the flight data. Specifically, the server calculates the difference value of the longitude, the latitude and the altitude of the coordinate in the flight data and the predicted coordinate; then, an average difference of the three differences is calculated. It should be noted that there is a preset inertial navigation weight database, which is a corresponding relationship between the average difference value and the inertial navigation weight stored in advance. The server brings the average difference value into a preset inertial navigation weight database, and further obtains an inertial navigation weight corresponding to the current average difference value. (thus, obtaining the inertial navigation weight of each flight data is completed).
After the server acquires the prediction weight, the precision weight, the signal strength weight and the inertial navigation weight corresponding to each flight data, the server calculates an average value among the prediction weight, the precision weight, the signal strength weight and the inertial navigation weight of each flight data, so as to determine the average value corresponding to each flight data as the flight weight of each flight data. (thus far, the calculation of the flight weight for each flight data is completed).
After the calculation of the flight weight of each flight data is completed, the server acquires longitude data, latitude data, altitude data, course data, navigational speed data and the flight weight corresponding to each flight data in each flight data;
the server follows the formula E ═ E (E)A*QA+ENorth China*QNorth China+EG*QG+EThunder*QThunder) Calculating longitude information of the aircraft, wherein EARepresenting longitude in ADS-B signal, representing longitude in Beidou short message, EGIndicating the longitude, E, in the 4G/5G signalThunderRepresents the longitude in the secondary radar signal;
the server is based on the formula W ═ WA*QA+WNorth China*QNorth China+WG*QG+WThunder*QThunder) Calculating latitude information of the aircraft, wherein WARepresenting latitude, W, in the ADS-B signalNorth ChinaIndicates the latitude, W, in the Beidou short messageGIndicates the latitude, W, in the 4G/5G signalThunderRepresenting the latitude in the secondary radar signal;
the server is according to the formula H ═ H (H)A*QA+HNorth China*QNorth China+HG*QG+HThunder*QThunder) Calculating altitude information of the aircraft, wherein HARepresenting the height, H, in the ADS-B signalNorth ChinaIndicates the height H in the Beidou short messageGIndicating the height, H, in the 4G/5G signalThunderRepresenting altitude in the secondary radar signal;
the server is according to the formula D ═ D (D)A*QA+DNorth China*QNorth China+DG*QG+DThunder*QThunder) Calculating heading information of the aircraft, wherein DAIndicating the heading in the ADS-B signal, DNorth ChinaIndicates the heading in the Beidou short message, DGIndicating heading, D, in 4G/5G signalsThunderRepresenting a heading in the secondary radar signal;
the server is according to the formula S ═ SA*QA+SNorth China*QNorth China+SG*QG+S*QThunder) Calculating the speed information of the aircraft, wherein SARepresenting the speed of flight in ADS-B signals, S representing the speed of flight in Beidou short messages, SGRepresenting speed, S, in 4G/5G signalsThunderRepresenting the speed of flight in the secondary radar signal;
wherein Q isARepresenting flight weight, Q, corresponding to the ADS-B signalNorth ChinaRepresents the flight weight Q corresponding to the Beidou short messageGRepresenting flight weights, Q, corresponding to the 4G/5G signalsThunderRepresenting the flight weight corresponding to the secondary radar signal;
the server obtains the position information of the aircraft by obtaining the longitude information of the aircraft, the latitude information of the aircraft, the altitude information of the aircraft, the course information of the aircraft and the speed information of the aircraft.
And obtaining the aircraft position information.
It should be noted that, the server in the present application may also achieve the purpose of observing the flight condition of the aircraft according to the selected aircraft. Specifically, the server acquires an aircraft ID of an observation aircraft; according to the steps 101 to 103, the server acquires the position information of the observation aircraft, introduces MATLAB software, and establishes a first three-dimensional image by taking time, longitude and latitude as coordinate axes, wherein the rendering color of the first three-dimensional image is a first color; it should be noted that the first color may be any feasible color. The server then calculates the position at the next time stamp of the current time stamp from the current position information and the speed of the vehicle under observation and names it as the predicted position. It should be noted that the implementation process of calculating the position at the next time stamp of the current time stamp according to the current position information and the speed of the observing aircraft may be implemented by an existing method or technology, and the embodiment of the present application is not limited to this. Then, the server acquires the predicted position, introduces MATLAB software, and establishes a second three-dimensional image by taking time, longitude and latitude as coordinate axes, wherein the rendering color of the second three-dimensional image is a second color; it should be noted that the second color may be any feasible color and is different from the first color.
The server obtains the fitting degree of the first three-dimensional image and the second three-dimensional image under the same timestamp through MATLAB, wherein the fitting degree refers to the proximity degree of the first three-dimensional image and the second three-dimensional image. And when the server detects that the fitting degree is greater than a preset threshold value, generating alarm prompt information and sending the alarm prompt information to the observation aircraft.
In addition, an embodiment of the application also provides a processing device for multi-source flight trajectory data fusion, as shown in fig. 2, executable instructions are stored thereon, and when the executable instructions are executed, the processing method for multi-source flight trajectory data fusion is implemented. Specifically, the server sends an execution instruction to the memory through the bus, and when the memory receives the execution instruction, sends an execution signal to the processor through the bus so as to activate the processor.
The processor is used for acquiring flight data uploaded by a plurality of flight monitoring devices in real time; the flight data carries position information, a timestamp and an aircraft ID; determining a preset storage area corresponding to the flight data according to the aircraft ID, adding the flight data into the preset storage area, and unifying the data structure of the flight data into a preset data structure according to the preset storage area and a preset data unification template; the preset storage areas correspond to the aircraft IDs one by one; determining the number of flight data of a timestamp corresponding to a preset storage area in any preset time interval; and determining the position information of the aircraft corresponding to the preset storage area based on the quantity of the flight data.
In addition, the embodiment of the application also provides a nonvolatile computer storage medium, on which executable instructions are stored, and when the executable instructions are executed, the processing method for multi-source flight trajectory data fusion is implemented.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A processing method for multi-source flight trajectory data fusion is characterized by comprising the following steps:
acquiring flight data uploaded by a plurality of flight monitoring devices in real time; the flight data carries position information, a timestamp and an aircraft ID;
determining a preset storage area corresponding to the flight data according to the aircraft ID, adding the flight data into the preset storage area, and unifying the data structure of the flight data into a preset data structure according to the preset storage area and a preset data unification template; the preset storage areas correspond to the aircraft IDs one by one;
determining the number of flight data of the timestamp corresponding to the preset storage area in any preset time interval;
and determining the position information of the aircraft corresponding to the preset storage area based on the quantity of the flight data.
2. The processing method for multi-source flight trajectory data fusion according to claim 1, wherein before determining the preset storage area corresponding to the flight data according to the aircraft ID carried by the flight data, the method further comprises:
acquiring an identification code in the flight data; wherein the identification code is used to distinguish the flight data type; the flight data types include at least any one or more of: ADS-B signals, Beidou short messages, 4G/5G signals and secondary radar signals;
determining a corresponding statistical table of the flight data in a preset storage area according to the identification code; the identification codes correspond to the statistical tables one by one; the statistical table stores latest timestamp flight data in real time and adds the latest timestamp flight data to the last bit of the statistical table;
when the statistical form receives the latest timestamp flight data, acquiring the coordinate position of the original last-position flight data in the statistical form; wherein the coordinate location comprises a longitude, latitude, and altitude of the aircraft;
and when the aircraft position corresponding to the latest timestamp flight data is detected to be behind the aircraft position corresponding to the original last-bit flight data, determining the latest timestamp flight data as invalid data, and removing the invalid data.
3. The processing method for multi-source flight trajectory data fusion according to claim 1, wherein determining the position information of the aircraft corresponding to the preset storage area based on the number of the flight data specifically comprises:
when the number of the flight data is 1, determining that the position information carried in the flight data is the current position information of the aircraft;
and when the number of the flight data is more than 1, determining flight weights respectively corresponding to the flight data based on a preset weight algorithm, and further determining the current position information of the aircraft according to the flight data and the flight weights.
4. The processing method for multi-source flight trajectory data fusion according to claim 3, wherein the determining of the flight weight corresponding to each flight data based on a preset weight algorithm specifically comprises:
determining a data type corresponding to each flight data, and determining a prediction weight corresponding to each flight data according to the data type and a preset type weight algorithm;
determining the precision weight of each flight data according to the positioning precision of the aircraft carried by each flight data;
determining a signal intensity weight of each flight data based on the signal intensity corresponding to the flight data;
determining an inertial navigation value of each flight data through the coordinates and the predicted coordinates in each flight data, and determining an inertial navigation weight of each flight data through the inertial navigation value; the predicted coordinates are coordinates under the timestamps corresponding to the flight data which are predicted according to the coordinates and the speed under any timestamp before the timestamp corresponding to the flight data;
determining an average value among the prediction weight, the intensity weight, the signal precision weight and the inertial navigation weight of each flight data, so as to determine the average value corresponding to each flight data as the flight weight of each flight data.
5. The processing method for multi-source flight trajectory data fusion according to claim 4, wherein a data type corresponding to each flight data is determined, so as to determine a prediction weight corresponding to each flight data according to the data type and a preset type weight algorithm, and specifically comprises:
acquiring preset calibration values corresponding to the data types respectively;
and determining the prediction weight of each flight data by substituting the preset calibration value into a preset type weight algorithm.
6. The processing method for multi-source flight trajectory data fusion according to claim 3, wherein determining the current position information of the aircraft according to each flight data and each flight weight specifically comprises:
acquiring longitude data, latitude data, altitude data, course data and navigational speed data in each flight data and the flight weight corresponding to each flight data;
according to the formula E ═ E (E)A*QA+ENorth China*QNorth China+EG*QG+EThunder*QThunder) Determining longitude information of the aircraft, wherein EAIndicating the longitude, E, in the ADS-B signalNorth ChinaIndicates the longitude in the Beidou short message, EGIndicating the longitude, E, in the 4G/5G signalThunderRepresents the longitude in the secondary radar signal; and
according to the formula W ═ WA*QA+WNorth China*QNorth China+WG*QG+WThunder*QThunder) Determining latitude information of the aircraft, wherein WARepresenting the latitude, W, in the ADS-B signalNorth ChinaIndicates the latitude, W, in the Beidou short messageGRepresenting the latitude, W, in the 4G/5G signalThunderRepresenting a latitude in the secondary radar signal; and
according to the formula H ═ HA*QA+HNorth China*QNorth China+HG*QG+HThunder*QThunder) Determining altitude information of the aircraft, wherein HARepresenting the height, H, in the ADS-B signalNorth ChinaIndicates the height in the Beidou short message, HGRepresenting the height, H, in the 4G/5G signalThunderRepresenting an altitude in the secondary radar signal; and
according to the formula D ═ DA*QA+DNorth China*QNorth China+DG*QG+DThunder*QThunder) Determining heading information of the aircraft, wherein DARepresenting a heading, D, in the ADS-B signalNorth ChinaIndicating the course in the Beidou short message, DGIndicating a heading, D, in said 4G/5G signalThunderRepresenting a heading in the secondary radar signal; and
according to the formula S ═ SA*QA+SNorth China*QNorth China+SG*QG+S*QThunder) Determining speed information of the aircraft, wherein SARepresenting the speed of flight in the ADS-B signal, S representing the speed of flight in the Beidou short message, SGRepresenting navigation in the 4G/5G signalSpeed, SThunderRepresenting a speed of flight in the secondary radar signal;
wherein Q isARepresenting the flight weight, Q, corresponding to the ADS-B signalNorth ChinaThe flight weight Q corresponding to the Beidou short message is expressedGRepresenting said flight weight, Q, corresponding to said 4G/5G signalThunderRepresenting the flight weight corresponding to the secondary radar signal;
and determining the current position information of the aircraft according to the longitude information of the aircraft, the latitude information of the aircraft, the altitude information of the aircraft, the course information of the aircraft and the navigational speed information of the aircraft.
7. The processing method for multi-source flight trajectory data fusion according to claim 1, further comprising:
determining observation aircraft information according to any one of the aircraft IDs;
establishing a first three-dimensional image by taking time, longitude and latitude as coordinate axes based on the current position information of the observation aircraft, wherein the rendering color of the first three-dimensional image is a first color;
determining a predicted location of the observation aircraft; the predicted position is the position of the current timestamp corresponding to the current position information of the observation aircraft under the next timestamp;
establishing a second three-dimensional image by taking time, longitude and latitude as coordinate axes based on the predicted position, wherein the rendering color of the second three-dimensional image is a second color;
obtaining the fitting degree of the first three-dimensional image and the second three-dimensional image under the same timestamp;
and when the fitting degree is greater than a preset threshold value, generating alarm prompt information and sending the alarm prompt information to the observation aircraft.
8. The processing method for multi-source flight trajectory data fusion according to claim 1, wherein after acquiring flight data in real time, the method further comprises:
inputting the flight data into a trained least square algorithm model to correct the minimum observed value of the flight data;
inputting the flight data after being corrected into a trained Kalman model to remove interference data in the flight data.
9. A processing device for multi-source flight trajectory data fusion, the device comprising:
a processor;
and a memory having executable code stored thereon, which when executed, causes the processor to perform a method of processing multi-source flight trajectory data fusion as claimed in any one of claims 1 to 8.
10. A non-transitory computer storage medium having stored thereon computer instructions that, when executed, implement a method of processing multi-source flight trajectory data fusion according to any one of claims 1-8.
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