CN101527088A - Broadcasting-mode automatic dependent surveillance track processing and device thereof - Google Patents
Broadcasting-mode automatic dependent surveillance track processing and device thereof Download PDFInfo
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Abstract
The invention discloses a broadcasting-mode automatic dependent surveillance track processing and a device thereof. The method includes receiving the message information transmitted by a plane with ADS-B equipment and initiating corresponding track documents of all planes. If the message information is speed information, the corresponding track documents of all planes are updated by the speed information; if the message information is position information, the corresponding track documents of all planes are updated by the position information; the updated track documents is sorted so as to renew the track documents in real time. The invention can achieve the track processing of ADS-B system and guarantee the continuity, accuracy and real-time performance of the track processing.
Description
Technical field
The present invention relates to the flight path treatment technology, particularly a kind of broadcasting-mode automatic dependent surveillance track disposal route and device belong to the air traffic control technical field.
Background technology
The basic goal of air traffic control is to make the aircraft on the course line can be safe, effective and plannedly fly in the spatial domain.The controller need dynamically carry out real time monitoring to the aircraft in the control zone.
At present, (Secondary Surveillance Radar, SSR) system carries out real time monitoring dynamically to aircraft all generally to adopt secondary surveillance radar both at home and abroad.And the SSR system itself has a lot of limitation: the rectilinear propagation of radar beam has formed a large amount of radar shadow; Can't cover ocean and Desert Area; The swing circle frequency of radar lowly causes Data Update slow, thereby has limited the raising that monitors precision; Can't obtain data such as the planned course of aircraft and situation, limit raising and short term collision alert (Short Time Conflict Alert, ability STCA) of tracking accuracy; And the SSR system product costs an arm and a leg, and is all fastidious to some extent to place and the environment disposed.Along with the transformation of whole world blank pipe system to new navigation system, the SSR system is because the defective of itself can not satisfy the requirement of current air traffic control system, so the adviser tool that needs exploitation to make new advances.
(Automatic Dependent Surveillance Broadcast, ADS-B) system is exactly this new adviser tool to Automatic dependent surveillance broadcast.It has not only overcome traditional radar etc., and some monitor the weak point of means, and itself have advantages such as precision height, renewal frequency are fast, applied range, real time monitoring is strong, equipment is built simply, maintenance cost is low.In the zone that radar covers, the Automatic dependent surveillance broadcast system will replenish as the main of radar surveillance, and it is suitable for the zone that mountain area, desert, outlying field etc. should not be built radar simultaneously, also is suitable for the supervision on high density airport.So Automatic dependent surveillance broadcast will be widely used in blank pipe supervision field.
The ADS-B system is that the locating information that produces with airborne satellite-based navigation equipment and other airborne equipment is a data source, is means of communication with advanced person's Ground-to-Air Data Link and absolutely empty data chainning.By externally broadcasting the state parameter of self automatically, reach the mutual perception between the aircraft, realize the detailed understanding of peripheral spatial domain traffic conditions.The ADS-B system can realize the whole mission phase of aircraft is carried out continuous unremitting supervision, has improved the reliability and the precision that monitor greatly.The understanding spatial domain traffic conditions that guaranteeing between the aircraft can mutual perception, can be detailed, guarantee the reliability and the precision that monitor, it is one of them major issue that need solve that flight path is handled.
Summary of the invention
The present invention provides a kind of broadcasting-mode automatic dependent surveillance track disposal route and device, to solve flight path handling problem in the ADS-B system.
The invention provides a kind of broadcasting-mode automatic dependent surveillance track disposal route, comprising:
Reception is equipped with the message information of the aircraft transmission of ADS-B equipment, each aircraft corresponding track file of initialization;
When message information is velocity information, upgrade each aircraft corresponding track file with velocity information;
When message information is positional information, with each aircraft corresponding track file of updating location information;
Track documents after arrangement is upgraded is so that track documents keeps real-time update.
The invention provides a kind of broadcasting-mode automatic dependent surveillance track treating apparatus, comprising:
Initialization module is used to receive the message information that the aircraft that is equipped with ADS-B equipment sends, each aircraft corresponding track file of initialization;
The Velocity Updating module is connected with described initialization module, and being used for working as message information is velocity information, upgrades each aircraft corresponding track file with velocity information;
The position renewal module is connected with described initialization module, is used for when message information is positional information, with each aircraft corresponding track file of updating location information;
Sorting module is connected with the position renewal module with described Velocity Updating module, is used to put in order the track documents after the renewal, so that track documents keeps real-time update.
As shown from the above technical solution, the present invention is by initialization track documents, renewal track documents, arrangement track documents, can realize the flight path processing of ADS-B system, and make the state of each aircraft corresponding track file maintenance real-time update, with continuity and the correctness that guarantees to monitor.
Description of drawings
Fig. 1 is the method flow synoptic diagram of first embodiment of the invention;
Fig. 2 is the method flow synoptic diagram of the step 11 in the first embodiment of the invention;
Fig. 3 is the method flow synoptic diagram of the step 12 in the first embodiment of the invention;
Fig. 4 is the method flow synoptic diagram of the step 13 in the first embodiment of the invention;
Fig. 5 is the method flow synoptic diagram of the step 14 in the first embodiment of the invention;
Fig. 6 is the apparatus structure synoptic diagram of second embodiment of the invention.
Embodiment
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
Fig. 1 is the method flow synoptic diagram of first embodiment of the invention, comprising:
Step 11:ADS-B flight path treating apparatus receives the message information of the aircraft transmission that is equipped with ADS-B equipment, each aircraft corresponding track file of initialization.Carry corresponding S pattern address in each message information, the track documents that different S pattern addresses is corresponding different, S pattern address can be used for the different aircraft of mark, the S pattern address that different aircrafts is corresponding different.The message that each aircraft sends is sent out one by one, and promptly velocity information is a message, and positional information is a message, and promptly message information may be velocity information or positional information.Flight number of message information or aircraft or the like, in general, air speed and positional information are that 1s sends out 2 times because these 2 is to change soon, and the catchword of aircraft and address is constant, so that the frequency that it is sent out is wanted is slow, approximately be 5s once.
Step 12: when this device is velocity information when message information, upgrade each aircraft corresponding track file with velocity information.
Step 13: when this device is positional information when message information, with each aircraft corresponding track file of updating location information.
Step 14: the track documents after this device arrangement is upgraded, so that track documents keeps real-time update.
Present embodiment can realize that by initialization track documents, renewal track documents, arrangement track documents the flight path of ADS-B system is handled, and makes the state of each aircraft corresponding track file maintenance real-time update, to guarantee the continuity and the correctness of supervision.
Fig. 2 is the method flow synoptic diagram of the step 11 in the first embodiment of the invention, comprising:
Step 201: beginning.
Step 202: obtain S pattern address in address pool.
Step 203: judge whether the S pattern address in the address pool is effective, if effectively, then execution in step 204, otherwise, execution in step 211.
Step 204: judge current S pattern address whether Already in the track documents, if then execution in step 205, otherwise, execution in step 207.
Step 205: judge whether this S pattern address corresponding track state is init state, if then execution in step 206, otherwise, execution in step 202.
Step 206: upgrade current S pattern address corresponding track time tag.Afterwards, execution in step 210.
Step 207: obtain a new track documents.
Step 208: judge whether that success obtains, if, execution in step 209, otherwise, execution in step 210.
Step 209: create a new track documents.Afterwards, repeated execution of steps 202.
Step 210: finish.
Can set up the track documents of corresponding aircraft by initialization, this track documents comprises S pattern address, flight path time tag and the track documents call number etc. of aircraft correspondence.Can in track documents, deposit velocity information, positional information etc. in afterwards.
Fig. 3 is the method flow synoptic diagram of the step 12 in the first embodiment of the invention, comprising:
Step 301: beginning.
Step 302: according to the ADS-B information that receives, decoding message information acquisition speed information.Velocity information can comprise the speed on east orientation speed, north orientation speed and the vertical direction.
Step 303: obtain current message information corresponding track file index number.Owing to when initialization, in track documents, comprised S pattern address and flight path time tag, can find the corresponding track file according to the S pattern address of the message information that receives.Because the track documents of storage has the track documents of a plurality of aircrafts, these track documents are all stored in a certain order, and each track documents all has a track documents call number.
Step 304: judge whether the track documents call number is correct, if then execution in step 305, otherwise, execution in step 309.The track documents call number correctly can be call number greater than 0, otherwise be the call number mistake.
Step 305: obtain the flight path state.In track documents, the flight path state comprises init state, inquiry state and enabled state.Under inquiry state and enabled state, can change the information in the track documents.Step 306: judge whether current flight path state is the inquiry state, if, execution in step 307, otherwise, execution in step 308.
Step 307: revising current flight path state is enabled state.
Step 308: preserve present speed information in the corresponding track file.The speed that comprises east orientation speed that decoding is come out, north orientation speed, vertical direction is saved in the track documents, upgrades the flight path time tag in the track documents simultaneously.Afterwards, can follow the tracks of processing to speed with Kalman filtering.
Step 309: finish.
Fig. 4 is the method flow synoptic diagram of the step 13 in the first embodiment of the invention, comprising:
Step 401: beginning.
Step 402: obtain corresponding track file index number.Can obtain corresponding track file index number according to the S pattern address of the ADS-B message information that receives.
Step 403: judge whether call number is correct, if, execution in step 404, otherwise, execution in step 417.For example, when call number shows that call number is correct greater than 0 the time, otherwise be mistake.
Step 404: obtain the flight path state.
Step 405: when determining that the flight path state is init state, execution in step 406.
Step 406: judge whether to such an extent that be positional information, if, execution in step 407, otherwise, execution in step 412.
Step 407: judge whether to be aerial state, if, execution in step 408, otherwise, execution in step 409.
Step 408: upgrade air position information and upgrade to realize flight path.Afterwards, execution in step 419.Upgrading air position information can be specially in realization: two functions are set, be respectively " upgrading air position information " function and " upgrading flight path " function with message (message information), " use the information updating flight path " function is included in " upgrading air position information " function, at first need to call " upgrading air position information " function, afterwards need update time in certain threshold value and the report of twice compression position (Compact Position Reporting, CPR) coded system could not called " using the information updating flight path " simultaneously again and carries out the air position information updating.For example, to determine that earlier the information that receives is to receive in after receiving information last time 10 seconds, and twice CPR coded system difference.After upgrading air position information the flight path state is changed to the inquiry state.
Step 409: judge whether to be the state of ground, if, execution in step 410, otherwise, execution in step 411.
Step 410: upgrade ground location information and upgrade to realize flight path.Afterwards, execution in step 419.Upgrading ground location information can be specially in realization: two functions are set, be respectively " renewal ground location information " function and " upgrading flight path " function with message (message information), function is included in " renewal ground location information " function " to use the information updating flight path ", at first need to call " renewal ground location information " function, afterwards need update time in certain threshold value and twice CPR coded system could not carry out ground location information simultaneously again and upgrade.For example, to determine that earlier the information that receives is to receive in after receiving information last time 50 seconds, and twice CPR coded system difference.
Step 411: carry out the vacant lot conversion.Afterwards, execution in step 419.
Step 412:, this positional information is kept in the index file of this call number correspondence as first positional information.Afterwards, execution in step 419.
Step 413: when determining that the flight path state is the inquiry state, execution in step 416.
Step 414: when determining that the flight path state is enabled state, execution in step 416.
Step 415: when determining not have the flight path state, execution in step 417.
Step 416: with the updating location information flight path in the message information.Afterwards, execution in step 419.For the aerial state in the init state, upgrade flight path with the function of overall decoding process, by Kalman filtering algorithm the position is followed the tracks of at last; For the state of ground in the init state, upgrade flight path with the function of local decode mode, by Kalman filtering algorithm the position is followed the tracks of at last; For the inquiry state, upgrade flight path with the function of local decode mode, by Kalman filtering algorithm the position is followed the tracks of at last; For enabled state, upgrade flight path with the function of local decode mode, by Kalman filtering algorithm the position is followed the tracks of at last.
Step 417: the call number of obtaining new track documents.Can obtain the call number of new track documents by function call, promptly find a track documents that does not have canned data.
Step 418: newly-built track documents.In newly-built track documents, the current information stores of obtaining is not being had in the track documents of canned data originally, the S pattern address of ADS-B message information, flight path time tag etc. all can be deposited in this newly-built track documents, and the flight path state is changed to init state.
Step 419: finish.
Fig. 5 is the method flow synoptic diagram of the step 14 in the first embodiment of the invention, comprising:
Step 501: beginning.
Step 502: the working time of obtaining current ADS-B flight path treating apparatus.For example, can obtain the working time of current device with the getCurrentTime function.
Step 503: order is obtained track documents.
Step 504: judge whether the track documents of obtaining is empty, if then execution in step 514, otherwise, execution in step 505.
Step 505: judge whether the flight path state in the track documents is init state, if, execution in step 506, otherwise, execution in step 508.
Step 506: whether judge this track documents last update time greater than certain first threshold, for example, whether greater than 200 seconds, if, execution in step 507, otherwise, repeated execution of steps 503.
Step 507: delete this track documents.Afterwards, repeated execution of steps 502.
Step 508: judge whether the flight path state is the inquiry state, if, execution in step 509, otherwise, repeated execution of steps 511.
Step 509: whether judge this track documents last update time greater than the second certain threshold value, for example, whether greater than 120 seconds, if, execution in step 510, otherwise, repeated execution of steps 503.
Step 510: the flight path state of track documents is changed to init state.Afterwards, repeated execution of steps 502.
Step 511: judge whether the flight path state is enabled state, if, execution in step 512, otherwise, execution in step 516.
Step 512: whether judge this track documents last update time greater than the 3rd certain threshold value, for example, whether greater than 25 seconds, if, execution in step 513, otherwise, repeated execution of steps 503.
Step 513: the flight path state of track documents is changed to the inquiry state.Afterwards, repeated execution of steps 502.
Step 514: the distance of calculating aircraft and this flight path treating apparatus of each track documents correspondence.
Step 515: the aircraft corresponding track file of deletion distance.Can be according to the capacity of system and the track documents far away of the definite deletion of other restrictions.Because track documents is stored in a buffer zone that size is limited, if the track documents of storage is too much, then may exceed this buffer zone, so delete, be noted that and delete the distance that distance is target (aircraft) and this machine (above-mentioned flight path treating apparatus) than this distance far away, behind the GPS location, this machine just has longitude and latitude information, so just can calculate the distance of each aircraft and this machine, can delete according to this distance afterwards.
Step 516: finish.
Fig. 6 is the apparatus structure synoptic diagram of second embodiment of the invention, comprises initialization module 61, Velocity Updating module 62, position renewal module 63 and sorting module 64.Initialization module 61 is used to receive the message information of the aircraft transmission that is equipped with ADS-B equipment, each aircraft corresponding track file of initialization; Velocity Updating module 62 is connected with described initialization module 61, is used for extracting velocity information at message information, and upgrades each aircraft corresponding track file with velocity information; Position renewal module 63 is connected with described initialization module 61, is used for extracting positional information at message information, and with each aircraft corresponding track file of updating location information; Sorting module 64 is connected with position renewal module 63 with described Velocity Updating module 62, is used to put in order the track documents after the renewal, so that track documents keeps real-time update.
The concrete principle of work of above-mentioned each module can be referring to described in the method embodiment.
Present embodiment can realize that by initialization track documents, renewal track documents, arrangement track documents the flight path of ADS-B system is handled, and makes the state of each aircraft corresponding track file maintenance real-time update, to guarantee the continuity and the correctness of supervision.
Above-mentioned method can realize that certain whole engineering realizes by hardware certainly with software.The development environment of software and running environment can be below vxWorks.Program downloaded to move on the single card microcomputer.
One of ordinary skill in the art will appreciate that: all or part of step that realizes said method embodiment can be finished by the relevant hardware of programmed instruction, aforesaid program can be stored in the computer read/write memory medium, this program is carried out the step that comprises said method embodiment when carrying out; And aforesaid storage medium comprises: various media that can be program code stored such as ROM, RAM, magnetic disc or CD.
It should be noted that at last: above embodiment is only in order to technical scheme of the present invention to be described but not limit it, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that: it still can make amendment or be equal to replacement technical scheme of the present invention, and these modifications or be equal to replacement and also can not make amended technical scheme break away from the spirit and scope of technical solution of the present invention.
Claims (10)
1, a kind of broadcasting-mode automatic dependent surveillance track disposal route is characterized in that, comprising:
Reception is equipped with the message information of the aircraft transmission of ADS-B equipment, each aircraft corresponding track file of initialization;
When message information is velocity information, upgrade each aircraft corresponding track file with velocity information;
When message information is positional information, with each aircraft corresponding track file of updating location information;
Track documents after arrangement is upgraded is so that track documents keeps real-time update.
2, method according to claim 1 is characterized in that, each aircraft corresponding track file of described initialization comprises:
Extract the S pattern address of each message information correspondence;
When effective, judge whether described S pattern address has existed in the track documents in described S pattern address;
When described S pattern address had existed in the track documents, whether the described S pattern of interpretation address corresponding track state was init state;
When the flight path state is init state, upgrade described S pattern address corresponding track time tag, afterwards, repeat the step of the S pattern address of extracting each message information correspondence.
3, method according to claim 2 is characterized in that, each aircraft corresponding track file of described initialization also comprises:
When described S pattern address does not exist in the track documents, create a new track documents, and described S pattern address is kept in the track documents of new establishment, the state of the track documents newly created is changed to init state.
4, method according to claim 1 is characterized in that, and is described when message information is velocity information, upgrades each aircraft corresponding track file with velocity information and comprises:
The described message information acquisition speed information of decoding;
Obtain described message information corresponding track call number, and when the flight path call number is correct, obtain the flight path state;
Judge whether described flight path state is the inquiry state;
When for the inquiry state, revising current flight path state is enabled state, afterwards, preserves described velocity information in described flight path call number corresponding track file;
When not for the inquiry state, preserve described velocity information in described flight path call number corresponding track file.
5, method according to claim 1 is characterized in that, describedly comprises with each aircraft corresponding track file of updating location information:
Obtain described message information corresponding track call number;
When the flight path call number is correct, obtain the flight path state;
When the flight path state is init state, in the time of must being positional information and being aerial state, upgrades to realize flight path with described updating location information air position information;
When the flight path state is init state, in the time of must being positional information and being the state of ground, upgrades to realize flight path with described updating location information ground location information;
When the flight path state is inquiry state or enabled state, with described updating location information flight path.
6, method according to claim 5 is characterized in that, describedly also comprises with each aircraft corresponding track file of updating location information:
When the plane state is an init state, when not having to such an extent that be positional information, described positional information first positional information as corresponding aircraft is kept in the described flight path call number corresponding track file.
7, according to claim 5 or 6 described methods, it is characterized in that, describedly also comprise with each aircraft corresponding track file of updating location information:
Incorrect when the flight path call number, when perhaps the flight path state does not exist, obtain new track documents call number, and newly-built track documents, described positional information is kept in the newly-built track documents.
8, method according to claim 1 is characterized in that, the track documents after described arrangement is upgraded comprises:
Obtain the working time of current flight path treating apparatus;
Order is obtained track documents;
Flight path state in the track documents of obtaining is an init state, and last update time during greater than predefined first threshold, and the track documents that deletion is obtained repeats the step that order is obtained track documents afterwards;
Flight path state in the track documents of obtaining is the inquiry state, and last update time during greater than predefined second threshold value, and the state of the track documents obtained is changed to init state, repeats the step that order is obtained track documents afterwards;
Flight path state in the track documents of obtaining is an enabled state, and last update time during greater than predefined the 3rd threshold value, and the state of the track documents obtained is changed to enabled state, repeats the step that order is obtained track documents afterwards.
9, method according to claim 8 is characterized in that, the track documents after described arrangement is upgraded also comprises:
When the track documents of obtaining is sky, calculate the distance of the aircraft and the described device of each track documents correspondence, the aircraft corresponding track file that the deletion distance is far away.
10, a kind of broadcasting-mode automatic dependent surveillance track treating apparatus is characterized in that, comprising:
Initialization module is used to receive the message information that the aircraft that is equipped with ADS-B equipment sends, each aircraft corresponding track file of initialization;
The Velocity Updating module is connected with described initialization module, is used for when message information is velocity information, upgrades each aircraft corresponding track file with velocity information;
The position renewal module is connected with described initialization module, is used for when message information is positional information, with each aircraft corresponding track file of updating location information;
Sorting module is connected with the position renewal module with described Velocity Updating module, is used to put in order the track documents after the renewal, so that track documents keeps real-time update.
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| CN101702024B (en) * | 2009-10-16 | 2011-12-21 | 四川九洲电器集团有限责任公司 | Method and device for processing signals based on broadcast mode automatic dependent surveillance |
| CN102621567A (en) * | 2012-03-28 | 2012-08-01 | 上海埃威航空电子有限公司 | Automatic dependent surveillance-broadcast (ADS-B) airborne equipment with beidou function and beidou function starting and stopping method |
| CN102881188A (en) * | 2012-10-18 | 2013-01-16 | 四川九洲空管科技有限责任公司 | Method for establishing track of broadcast automatic related monitoring target |
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| CN111402639A (en) * | 2020-03-30 | 2020-07-10 | 中国电子科技集团公司第五十四研究所 | ADS-B position resolving method based on satellite-borne scene |
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| CN101702024B (en) * | 2009-10-16 | 2011-12-21 | 四川九洲电器集团有限责任公司 | Method and device for processing signals based on broadcast mode automatic dependent surveillance |
| CN102621567A (en) * | 2012-03-28 | 2012-08-01 | 上海埃威航空电子有限公司 | Automatic dependent surveillance-broadcast (ADS-B) airborne equipment with beidou function and beidou function starting and stopping method |
| CN104704542A (en) * | 2012-08-01 | 2015-06-10 | 爱维奥斯尼克空间科技有限公司 | Direct broadcast alert apparatus and method |
| CN102881188A (en) * | 2012-10-18 | 2013-01-16 | 四川九洲空管科技有限责任公司 | Method for establishing track of broadcast automatic related monitoring target |
| CN102881188B (en) * | 2012-10-18 | 2014-12-17 | 四川九洲空管科技有限责任公司 | Method for establishing track of broadcast automatic related monitoring target |
| CN103795512B (en) * | 2013-12-17 | 2017-05-24 | 烟台三航雷达服务技术研究所有限公司 | Extrapolation correcting method of ADS-B position message |
| CN103795512A (en) * | 2013-12-17 | 2014-05-14 | 烟台三航雷达服务技术研究所有限公司 | Extrapolation correcting method of ADS-B position message |
| CN103927905A (en) * | 2014-04-17 | 2014-07-16 | 四川九洲电器集团有限责任公司 | 1090 ES ADS-B local position decoding algorithm improvement method |
| CN103927905B (en) * | 2014-04-17 | 2017-02-15 | 四川九洲电器集团有限责任公司 | Method for determining position of plane |
| CN105023468A (en) * | 2015-08-06 | 2015-11-04 | 北京航空航天大学 | Terminal area airline safety tolerance monitoring method based on collision risk model and system thereof |
| CN106291627A (en) * | 2016-08-24 | 2017-01-04 | 成都天奥信息科技有限公司 | A kind of ship type GPS course smooths update method |
| CN111373462A (en) * | 2017-08-11 | 2020-07-03 | 联想(北京)有限公司 | Transmitting aircraft position information |
| CN110135728A (en) * | 2019-05-14 | 2019-08-16 | 南京弘道软件有限公司 | Flight training movement automatic identification and scoring system based on ads-b technology |
| CN111402639A (en) * | 2020-03-30 | 2020-07-10 | 中国电子科技集团公司第五十四研究所 | ADS-B position resolving method based on satellite-borne scene |
| CN114120717A (en) * | 2021-11-29 | 2022-03-01 | 四川九洲空管科技有限责任公司 | ADS-B anti-collision method based on DO185B standard |
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