CN101577058A - Data processing method capable of supporting broadcast-type traffic information service - Google Patents

Abstract

The invention relates to a data processing method capable of supporting broadcast-type traffic information service, comprising the following steps of: carrying out error real-time analysis and precision parameter real-time calculation on the measured data, thus obtaining a track mass information; carrying out weighting fusion treatment on the track mass information, thus generating a system track; carrying out mass quantization and application treatment on the system track, and carrying out multi-data source system error calibration treatment on the track positions. Therefore, the data processing method capable of supporting the broadcast-type traffic information service realizes that the system error of multi-data source is corrected under the multi-data source condition, effectively improves the accuracy of the calculation results, simultaneously adopts an exact weighting and rough weighting method by aiming at the measurement data of different sources, and ensures the exactness of the result based on the reduction of the calculation amount.

Description

Support the data processing method of broadcast-type traffic information service

Technical field

The present invention relates to a kind of data processing method of supporting the broadcast-type traffic information service, especially a kind of broadcast-type traffic information service for multi-data source (Traffic InformationService-Broadcast, data processing method TIS-B).

Background technology

The purpose of air traffic control is to make aircraft safety on the course line, efficiently, in a planned way fly in the spatial domain.The controller need dynamically carry out real time monitoring to the flight of aircraft in the control zone, realizes the accurate grasp to the air traffic action message.

Traditional radar surveillance means adopt the mode of inquire that target is surveyed.But radar system self has a lot of limitation, for example the following aspects: radar beam has the rectilinear propagation characteristic, causes the existence of a large amount of blind areas; Can't survey in some special landforms (as ocean and desert) area; Radar swing circle determination data turnover rate, thus limited the raising that monitors precision to a certain extent; Can't obtain the situation data such as plan air route, speed of aircraft, limit raising and short term collision alert (Short Term Conflict Alert, STCA) ability of tracking accuracy.

Automatic dependent surveillance (the AutomaticDependent Surveillance that International Civil Aviation Organization (ICAO) is recommended in new navigation system, ADS) technology, it is the navigation information that airborne navigational system obtains, data chainning or very high frequency(VHF) Air-Ground data chainning via satellite, sending to ground automatically real-time receives and disposal system, provide pseudo-radar picture by display device then, for a kind of technology of ground surveillance aircraft running status.

(Automatic Dependent Surveillance-Broadcast ADS-B) is a kind of in the ADS technology to Automatic dependent surveillance broadcast.It is a data source with the information that navigator and other airborne equipments produce, and adopts ground sky/absolutely empty data chainning as means of communication, by externally broadcasting the state parameter of self automatically, realizes the real time monitoring of ground in the face of aircraft; It also receives the broadcast message of other aircrafts simultaneously, reaches the mutual perception of interplane, realizes comprehensive, the detailed understanding of peripheral spatial domain traffic.

Existing radar surveillance means can very fast disappearance, and if with ADS-B as unique supervision means, in case navigational system goes wrong, the function for monitoring forfeiture will cause inestimable massive losses.Therefore, (Secondary Surveillance Radar SSR) monitors secondary surveillance radar and ADS-B monitors and can coexist.How will have farthest that the monitor performance of proven technique means and ADS-B combines in the radar surveillance system now, realize the maximum using of resource, finishing the expansion of ADS-B monitor area to the radar surveillance zone, fill up monitoring the slit, is a problem demanding prompt solution.

Broadcast-type traffic information service (TIS-B, Traffic Information Service-Broadcast) is used for solving the process that surveillance updates, the compatibility issue of ADS-B and radar surveillance means, it broadcasts to the ADS-B user in the service range after with the radar surveillance information processing, thereby realizes that ADS-B user is to the monitoring of non-ADS-B target on every side.Monitoring data as using for ADS-B user in order to ensure flight safety, when obtaining positional information, needs to be grasped its bearing accuracy and integrity characteristic, guarantees genuine and believable supervision.

Because the coexistence that SSR monitors and ADS-B monitors.Therefore the Data Source of TIS-B both may be the SSR measurement data, also may be the ADS-B measurement data, also may be the corporate data of the two.And the data processing method of existing support broadcast-type traffic information service is at the processing under the situation in individual data source, and the monitoring data that can't be applicable to multi-data source is handled and merged.

Summary of the invention

Purpose of the present invention provides a kind of data processing method of supporting the broadcast-type traffic information service at the defective of prior art, under the situation that is implemented in the multi-source monitoring data, to the TIS-B data processing and the fusion of multi-source monitoring data, improves and handles accuracy.

For achieving the above object, the invention provides a kind of data processing method of supporting the broadcast-type traffic information service, comprising:

The data that measure are carried out the error real-time analysis and precision parameter calculates in real time, obtain track mass information;

Track mass information is weighted fusion treatment, the generation system flight path;

System's flight path quality quantification is handled with application.

Described the data that measure are carried out the error real-time analysis and precision parameter calculates in real time, obtain track mass information and be specially: measurement data is carried out Noise Variance Estimation handle; Measurement data is carried out systematic error to be estimated to handle; Model is chosen the Estimated Position Error information that calculates.Describedly measurement data is carried out Noise Variance Estimation handle and to be specially: three continuous coverage points to target carry out least square fitting, obtain undetermined coefficient; Predict next position of target constantly, and with next constantly actual measurement location value compare and ask poor; Calculate the difference between several actual measured value and the predicted value so continuously; Utilize the standard deviation of the difference calculating ellipse long and short shaft between above-mentioned actual measured value and the predicted value.

Described track mass information is weighted fusion treatment, the generation system flight path is specially: the data of a plurality of reflection synchronizations that measure, same target, same characteristic features parameter are carried out linear weighted calculation, determine the final observed reading of eigen parameter thus, the generation system flight path.

Described system flight path quality quantification is handled with application and is specially: the quantization level of carrying out the navigation position error category is handled; The requirement of navigation position error category and application is compared; If meet the demands, quantization level and the corresponding aircraft of then exporting described navigation position error category guarantee to use kind at interval; If do not meet the demands, then in the quantization level of the described navigation position error category of output, provide the alarm of a reminder-data precision deficiency.

Describedly the data that measure are carried out error real-time analysis and precision parameter also comprise before calculating in real time: the systematic error calibration process of the flight path position being carried out multi-data source.The described systematic error calibration process that multi-data source is carried out in the flight path position is specially: system is derived processing when carrying out, will be on the time older data be extrapolated to newer data of time constantly; Simultaneously that the update cycle is short data are extrapolated to the observation moment of update cycle than long data; Measurement data is converted to latitude and longitude coordinates by polar coordinates; Selected latitude and longitude coordinates is after calibrating coordinate system and finishing coordinate transform, makes a plurality of data sources actual position to same target, synchronization under the same coordinate system equate that then by the measured value of several targets, obtain systematic error, processing calibrates for error.

Therefore, the present invention supports that the data processing method of broadcast-type traffic information service has realized under the condition of multi-data source the systematic error of multi-data source being proofreaied and correct, and has improved the accuracy of result of calculation effectively; Simultaneously,, adopt the rough method of weighting of accurate weighted sum, on the basis of reducing calculated amount, guaranteed result's accuracy at the measurement data characteristics of separate sources.

Description of drawings

Fig. 1 supports the process flow diagram of the data processing method embodiment one of broadcast-type traffic information service for the present invention;

Fig. 2 supports the process flow diagram of the data processing method embodiment two of broadcast-type traffic information service for the present invention.

Embodiment

Below by drawings and Examples, technical scheme of the present invention is described in further detail.

The inconsistency that bring because having multi-source in the source of TIS-B systematic survey data.ADS-B is by navigation position error category (Navigation Uncertainty Category-Position, NUCp) precision of comprehensive characterization locating information and integrity, because its metrical information derives from GPS, its data precision Estimated Position Error (Estimate Position Uncertainty, EPU), in actual use, NUCp is converted to EPU, can calculate by the ADS-B airborne equipment to produce.The TIS-B monitor message derives from SSR, does not have to characterize accordingly the data item of precision in its data.The present invention proposes a kind of TIS-B data processing method of supporting that multi-source, reliable information merge.

The present invention makes full use of the characteristics of ADS-B and SSR measurement data, characteristic based on noise error and systematic error under the different monitoring systems, the data handling system in different pieces of information source is effectively improved fusion with credibleization, propose a kind of TIS-B data processing method of supporting that multi-source, reliable information merge.

As shown in Figure 1, for the present invention supports the process flow diagram of the data processing method embodiment one of broadcast-type traffic information service, the data processing method of the support broadcast-type traffic information service of present embodiment may further comprise the steps:

Step 101 is carried out the error real-time analysis and precision parameter calculates in real time to the data that measure, and obtains track mass information;

Step 102, track mass information is weighted fusion treatment, the generation system flight path;

Step 103, system's flight path quality quantification is handled with application.

Therefore, the present invention supports that the data processing method of broadcast-type traffic information service has realized under the condition of multi-data source the systematic error of multi-data source being proofreaied and correct, and has improved the accuracy of result of calculation effectively; Simultaneously,, adopt the rough method of weighting of accurate weighted sum, on the basis of reducing calculated amount, guaranteed result's accuracy at the measurement data characteristics of separate sources.

As shown in Figure 2, for the present invention supports the process flow diagram of the data processing method embodiment two of broadcast-type traffic information service, the data processing method of the support broadcast-type traffic information service of present embodiment may further comprise the steps:

Step 201 is carried out the systematic error calibration process of multi-data source to the flight path position;

In the middle of the practical application, more than one of the data source of TIS-B system possibility, the normally situation of SSR and ADS-B coexistence.Generally take the method correction systematic error separately in mutual school between the multi-data source.

Concrete processing is as follows:

Step 201a, SSR is different with the ADS-B update cycle, and the concrete moment that obtains data is often also inequality, and therefore before calibrating, system is derived in the time of at first should carrying out, and will older data be extrapolated to time in the newer data moment on the time; Simultaneously that the update cycle is short data are extrapolated to the observation moment of update cycle than long data, generally the ADS-B data are extrapolated to the SSR data observation constantly;

Step 202b, because SSR measurement data position is the polar coordinates positions, and the ADS-B Data Position is longitude and latitude (Geodetic) position, so the mutual calibration method of SSR and ADS-B need carry out coordinate transform to the SSR measurement data, and measurement data is converted to latitude and longitude coordinates by polar coordinates;

Step 203c, selected latitude and longitude coordinates is after calibrating coordinate system and finishing coordinate transform, make SSR and ADS-B that the two equates the actual position of same target, synchronization under the same coordinate system, then by the measured value of the individual target of N (N 〉=3), can find the solution the size of the systematic error that obtains SSR system and ADS-B system correspondence, thereby carry out the systematic error correction.

Step 202 is carried out the error real-time analysis and precision parameter calculates in real time to the data that measure, and obtains track mass information;

After multi-source monitoring data is carried out the mutual school of systematic error, need carry out the targetpath quality evaluation, the quality information of targetpath is meant the parameter of characterization data precision and integrity, the targetpath quality evaluation is a kind of TIS-B system at different error characteristics, its measurement data is carried out error real-time analysis and the real-time flow scheme design of calculating of precision parameter, finally obtain flight path EPU or HFOM _95%(when reporting by gps system, the so-called HFOM of EPU _95%);

Concrete treatment scheme is as follows: step 202a, carry out Noise Variance Estimation to measurement data and handle;

Adopt least square fitting method to come the estimating noise variance, promptly adopt less several points to carry out the flight path status predication,, then can obtain measuring comparatively accurately Noise Variance Estimation by the error between continuous statistics predicted value and the measured value; Concrete processing is as follows;

1, at first carries out initialization, three continuous coverage points about a certain target are carried out least square fitting, obtain undetermined coefficient;

2, predict next position of target constantly according to fit equation expression formula (1) then, and compare, obtain the difference between the two with next moment actual measurement location value;

$\left\{\begin{array}{c}{x}_i=a_0+a_{1}i+a_2{i}^2\\ y_i=b_0+b_{1}i+b_2{i}^2\end{array}---\left(1\right)\right.$

Calculate the actual measured value of several (for example 10) point and the difference between the predicted value so continuously; Estimation variance according to these 10 points of formula (2) obtains σ _RAnd σ _θ, use therein plane X-Y coordinate is due east-positive northern coordinate system;

$\left\{\begin{array}{c}{{\mathrm{\σ}}_R}^2=\frac{1}{n-1}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{(R_i-{\stackrel{\·}{R}}_i)}^2\\ {{\mathrm{\σ}}_{\mathrm{\θ}}}^2=\frac{1}{n-1}\underset{i=1}{\overset{n}{\mathrm{\Σ}}}{\left(R_i({\mathrm{\θ}}_i-{\stackrel{\·}{\mathrm{\θ}}}_i)\right)}^2\end{array}\right.---\left(2\right)$

In the formula (2), R _iAnd θ _iBe the oblique distance of cycle update time internal object, i the least-squares estimation value that arrange constantly according to measurement at the position angle;

3, calculate ellipse long and short shaft at last,, utilize the σ that obtains according to formula (3) _RAnd σ _θObtain the standard deviation sigma of oval long and short axle normalization variance _MxAnd σ _My

$\left\{\begin{array}{c}{\mathrm{\σ}}_{\mathrm{mx}}=\max (+\sqrt{{\mathrm{\λ}}_1},\sqrt{{\mathrm{\λ}}_2})\\ {\mathrm{\δ}}_{\mathrm{my}}=\min (\sqrt{{\mathrm{\λ}}_1},\sqrt{{\mathrm{\λ}}_2})\end{array}\right.$

(3)

${\mathrm{\λ}}_{\mathrm{1,2}}=\frac{({{\mathrm{\σ}}_R}^2+{{\mathrm{\σ}}_{\mathrm{\θ}}}^2)\±\sqrt{{({{\mathrm{\σ}}_R}^2-{{\mathrm{\σ}}_{\mathrm{\θ}}}^2)}^2+4{{\mathrm{\σ}}_{\mathrm{R\θ}}}^4}}{2}$

Step 202b carries out systematic error to measurement data and estimates to handle;

The estimation of systematic error can be judged the SSR model according to the data source identifier in the measurement data message, and the maximal value of its systematic error of radar of different model can be consulted relevant form and be obtained.For example table 1 is that ASR-9 type radar measurement system error and noise variance scope are estimated:

Table 1

Target oblique distance (in the sea)	Maximum system deviation (foot)
		20	3154
40	3465
		60	4351
80	5333

Table 2 is that ARSR-4 type radar measurement system error and noise variance scope are estimated:

Table 2

Target oblique distance (in the sea)	Maximum system deviation (foot)
		20	8574
40	8140
		60	7730
80	8385

By form as can be known, the size of systematic error is relevant with the measurement oblique distance.Therefore, the error burst in the oblique distance size corresponding tables that can measure in real time according to target, thus obtain the estimated value of systematic error.

Step 202c, model choose the Estimated Position Error information that calculates

The main standard that model is chosen is whether SSR carried out the systematic error calibration, and is specific as follows:

1, at first, judge whether SSR carried out the systematic error calibration;

If 2 SSR do not carry out the systematic error calibration, then the size of systematic error be can not ignore, and therefore can choose the EPU extended model, obtains EPU, i.e. HFOM _95%

If 3 SSR have carried out the systematic error calibration, make the size of systematic error to ignore, then choose the EPU model, directly obtain EPU, i.e. HFOM _95%

Step 203, track mass information is weighted fusion treatment, the generation system flight path;

TIS-B system for adopting a plurality of data sources (supposition all is the SSR data source) herein can be weighted fusion, the generation system flight path to the flight path quality factor (HFOM) that calculates.According to the relevant notion of information fusion, it can be considered a kind of degree of confidence weighting fusion method in essence;

The data that are specially the reflection synchronization that two SSR sensors are obtained, same target, same characteristic features parameter are carried out linear weighted calculation, determine the final observed reading of eigen parameter thus, and mathematic(al) representation is as follows:

P＝α ₁P ₁+α ₂P ₂ (4)

In the formula (4), P ₁, P ₂Representative is by the observed value of target separately of two SSR data sources acquisitions respectively, and P is the end value of fusion, α ₁, α ₂Be weighting factor;

If precision parameter under two SSR systems separately is respectively HFOM ₁And HFOM ₂, because HFOM is big more, the precision of its representative is low more, so corresponding weighting factor just should be more little, α ₁, α ₂Big I determine by formula (5):

$\left\{\begin{array}{c}{\mathrm{\α}}_1=\frac{{\mathrm{HFOM}}_2}{{\mathrm{HFOM}}_1+{\mathrm{HFOM}}_2}\\ {\mathrm{\α}}_2=\frac{{\mathrm{HFOM}}_1}{{\mathrm{HFOM}}_1+{\mathrm{HFOM}}_2}\end{array}\right.---\left(5\right)$

The weighting factor of formula (5) is based on precision parameter HFOM ₁And HFOM ₂, belong to accurate weighting.Can also adopt a kind of method of rough weighting, promptly based on precision parameter is NUCp ₁, NUCp ₂Quantization level because the rank of NUCp is big more, the precision of representative is high more, so α ₁, α ₂Size also can determine by formula (6):

$\left\{\begin{array}{c}{\mathrm{\α}}_1=\frac{{\mathrm{NUCp}}_1}{{\mathrm{NUCp}}_1+{\mathrm{NUCp}}_2}\\ {\mathrm{\α}}_2=\frac{{\mathrm{NUCp}}_2}{{\mathrm{NUCp}}_1+{\mathrm{NUCp}}_2}\end{array}\right.---\left(6\right)$

Generally speaking, if Data Source is the SSR data source, first-selected precision weighting is equation (5); But, when perhaps all being the ADS-B data source,, then can use equation (6) to carry out rough weighting, to reduce calculated amount because the ADS-B data itself have the mass parameter NUCp of sign self precision and integrity when data source is SSR and ADS-B data source.

Step 204, system's flight path quality quantification is handled with application.

Obtain the precision parameter NUCp of multi-data source (if fusion results is HFOM by the method for weighting fusion, then can inquire about relevant form and be converted into the NUCp quantization level) after, can inquire about NUCp rank and the ASA application type form of being supported on this basis, as shown in table 3, check it whether to satisfy the needs of using.In general, the rank of NUCp is at least greater than 4 accuracy requirements that could satisfy ASA;

Table 3

NUCp	Level and vertical range border	ASA uses
			0	HPL 〉=20NM or HFOM 〉=10NM	Do not have
1	HPL＜20NM or HFOM＜10NM	Do not have
			2	HPL＜10NM or HFOM＜5.0NM	Do not have
3	HPL＜2NM or HFOM＜1.0NM	Do not have
			4	HPL＜1.0NM or HFOM＜0.5NM	EVAcq，CD
5	HPL＜0.5NM or HFOM＜0.25NM	EVAcq，CD
			6	HPL＜0.2NM or HFOM＜0.1NM	EVAcq，CD，EVApp
7	HPL＜0.1NM or HFOM＜0.05NM	EVAcq，CD，EVApp
			8	HFOM＜10m, VFOM＜15m and HPL＜25m, VPL＜37.5m	EVAcq，CD，ASSA，FAROA，EVApp
9	HFOM＜3m, VOM＜4m and HPL＜7.5m, VPL＜11m	EVAcq，CD，ASSA，FAROA，EVApp

The concrete processing of this step is as follows:

1, the relevant form of inquiry carries out the quantization level processing of NUCp;

2, the requirement with NUCp and application compares;

If 3 satisfy the requirement of using, then export the quantization level of this NUCp and corresponding ASA and use kind; If do not satisfy, then by the M-out-of-N testing mechanism, supposing has 3 samples (i.e. three radar scanning cycles) to surpass tolerance limit in the middle of per 4 continuous samples, and the alarm of a reminder-data precision deficiency promptly is provided in output NUCp quantization level.

Thereby realized the TIS-B data processing that multi-source, reliable information merge.

The present invention supports the data processing method of broadcast-type traffic information service based on the different pieces of information source, be the characteristics of ADS-B monitoring data and SSR monitoring data, under the prerequisite that meets TIS-B data precision parameter-definition, proposed at the systematic error calibration steps between the different pieces of information source; On this basis, carry out the real-time calculating of error real-time analysis and precision parameter, finally generate the TIS-B track mass information by quantization level, judge whether its quantization level meets control and aircraft guarantees (Aircraft SeparationAssurance at interval, ASA) requirement of Ying Yonging and provide countermeasure is in order to carry out the targetpath quality evaluation.Thereby proposed multi-source, supported the data processing method of broadcast-type traffic information service, effectively improved single data source in the traditional algorithm and do not carried out the error real-time analysis and the situation of the reduction of the data precision that causes.

At monitoring that the same target that may exist has the situation of a plurality of data source measurement data,,, use the method for credibleization of flight path quality weighting fusion, the generation system flight path according to the related notion of information fusion based on the measurement data characteristics of ADS-B and SSR; For the measurement data of separate sources, adopt accurate weighting or rough method of weighting selectively, reduce calculated amount to a certain extent, guarantee result's accuracy; Realized the credible fusion of data handling system.

The present invention supports the data processing method of broadcast-type traffic information service at first to realize the targetpath quality evaluation of TIS-B system, and under the condition of considering multi-data source, adopt the method in the mutual school of systematic error, systematic error to multi-data source is proofreaied and correct, and has improved the accuracy of result of calculation effectively; Simultaneously,, adopt the rough method of weighting of accurate weighted sum, on the basis of reducing calculated amount, guaranteed result's accuracy at the measurement data characteristics of separate sources.

It should be noted last that, above embodiment is only unrestricted in order to technical scheme of the present invention to be described, 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, can make amendment or be equal to replacement technical scheme of the present invention, and not break away from the spirit and scope of technical solution of the present invention.

Claims (7)

1, a kind of data processing method of supporting the broadcast-type traffic information service is characterized in that comprising:

The data that measure are carried out the error real-time analysis and precision parameter calculates in real time, obtain track mass information;

Track mass information is weighted fusion treatment, the generation system flight path;

System's flight path quality quantification is handled with application.

2, the data processing method of support broadcast-type traffic information according to claim 1 service is characterized in that described the data that measure being carried out the error real-time analysis and precision parameter calculates in real time, obtains track mass information and is specially:

Measurement data is carried out Noise Variance Estimation to be handled;

Measurement data is carried out systematic error to be estimated to handle;

Model is chosen the Estimated Position Error information that calculates.

3, the data processing method of support broadcast-type traffic information according to claim 2 service is characterized in that describedly measurement data is carried out Noise Variance Estimation handling and being specially:

Three continuous coverage points to target carry out least square fitting, obtain undetermined coefficient;

Predict next position of target constantly, and with next constantly actual measurement location value compare and ask poor; Calculate the difference between several actual measured value and the predicted value so continuously;

Utilize the standard deviation of the difference calculating ellipse long and short shaft between above-mentioned actual measured value and the predicted value.

4, the data processing method of support broadcast-type traffic information service according to claim 1, it is characterized in that described track mass information is weighted fusion treatment, the generation system flight path is specially: the data of a plurality of reflection synchronizations that measure, same target, same characteristic features parameter are carried out linear weighted calculation, determine the final observed reading of eigen parameter thus, the generation system flight path.

5, the data processing method of support broadcast-type traffic information service according to claim 1 is characterized in that described system flight path quality quantification and application processing are specially:

Carrying out the quantization level of navigation position error category handles;

The requirement of navigation position error category and application is compared;

If meet the demands, quantization level and the corresponding aircraft of then exporting described navigation position error category guarantee to use kind at interval; If do not meet the demands, then in the quantization level of the described navigation position error category of output, provide the alarm of a reminder-data precision deficiency.

6, the data processing method of support broadcast-type traffic information according to claim 1 service is characterized in that describedly the data that measure are carried out error real-time analysis and precision parameter also comprising before calculating in real time: the systematic error calibration process of the flight path position being carried out multi-data source.

7, the data processing method of support broadcast-type traffic information according to claim 6 service is characterized in that the described systematic error calibration process that multi-data source is carried out in the flight path position is specially:

System is derived processing when carrying out, and will older data be extrapolated to time in the newer data moment on the time; Simultaneously that the update cycle is short data are extrapolated to the observation moment of update cycle than long data;

Measurement data is converted to latitude and longitude coordinates by polar coordinates;

Selected latitude and longitude coordinates is after calibrating coordinate system and finishing coordinate transform, makes a plurality of data sources actual position to same target, synchronization under the same coordinate system equate that then by the measured value of several targets, obtain systematic error, processing calibrates for error.

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