CN103680217A - Mixed monitoring tracking method of airborne collision avoidance system - Google Patents
Mixed monitoring tracking method of airborne collision avoidance system Download PDFInfo
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Abstract
The invention discloses a mixed monitoring tracking method of an airborne collision avoidance system. According to the method, with a comprehensive use of active monitoring and passive monitoring, mixed monitoring is achieved. The method includes the following steps of: initially using the active monitoring, determining a potential threat condition, tracking and confirming, shifting from the active monitoring to the passive monitoring, verifying passive monitoring data, determining a mixed threat condition, shifting from the passive monitoring to the active monitoring, and tracking and re-confirming. The above operations are used in a certain order to form the mixed monitoring tracking method; with use of the above method, while a collision avoidance capability of an existing TCAS is maintained, the interrogation frequency of the TCAS is reduced, the active request signals in airspace are reduced, and the signal complexity in the airspace is reduced. The ADS-B technology is used, so that the TCAS with the mixed monitoring function is higher in request efficiency, and the TCAS has the capability to track multiple aircrafts.
Description
Technical field
The present invention relates to aerial anti-collision technique, particularly a kind of method of surveillance and tracking in airborne collision avoidance system.
Background technology
TCAS (Traffic Alert and Collision Avoidance System) is to move independently air traffic collision avoidance system, and it provides protection for having equipped the aircraft of answering machine.TCAS initiatively inquires and has equipped the aircraft of answering machine around and followed the tracks of replying of receiving, if TCAS algorithm is determined aircraft invasion or soon invasion, TCAS will send traffic warning information (TA); If intruder continues to approach, TCAS will send decision information (RA).The protection class that TCAS II provides by the other side's aircraft with the type of answering machine, determine, if intruder has been reported height (C/S model), TCAS sends traffic warning information and decision information; If intruder has also been equipped TCAS, these two TCAS II will liquidate to advance by leaps and bounds to go by S mode data chain exchange message and coordinate to solve so.Automatic dependent surveillance broadcast ADS-B (Automat ic Dependent Survei l lance-Broadcast) is by information such as its position of aircraft overseas broadcast, speed, intentions, and receive the broadcast message of other aircrafts, reach the mutual perception of interplane, and then realize comprehensive, the detailed understanding of periphery spatial domain traffic.The aircraft of having equipped ADS-B can improve supervision precision, strengthens context-aware, share interval service (larger than TCAS II monitoring range) and better scene monitoring etc.
Traditional aerial collision avoidance system can only rely on the information such as current and historical position, speed of acquisition to the prediction of conflict, conflict prediction ability is by the increase reduction along with air route flight complicacy.1030/1090MHz frequency is all used in TCAS and the supervision of ground blank pipe, and the inquiry of TCAS and ground blank pipe is all to answer by airborne answering machine, therefore, need to reduce the inquiry rate of TCAS to reduce radio interference.ADS-B technology can overseas broadcast monitor message polytype, abundant in content, that meet precision and accuracy requirement, but once ADS-B has lost for it provides the basis (as GPS) of position message and will lose conflict detectivity, and ADS-B is as a kind of brand-new technology, its performance also needs a large amount of tests and assessment to verify.
Summary of the invention
Goal of the invention of the present invention is to provide a kind of airborne collision avoidance system combination surveillance tracking, on the basis of crashproof ability that keeps existing TCAS, reduce TCAS interrogation frequency, reduced the signal that in spatial domain, TCAS initiatively inquires, reduced the complicacy of signal in spatial domain.
In order to reach foregoing invention object, the present invention includes following operation steps:
Step 1, airborne collision avoidance system initially adopt and initiatively monitor intruder is followed the tracks of, and by the machine, send inquiry message, its machine is replied and communicated.
Step 2, according to the height and distance of intruder, judge whether to exist the condition of potential threat aircraft.Potential threat is for being switched to the threat inspection initiatively monitoring from PASSIVE SURVEILLANCE.
If the condition criterion intruder of step 3 potential threat aircraft does not exist potential threat, and its airborne position signalling is by checking, and system jumps to PASSIVE SURVEILLANCE and follows the tracks of, and the broadcast message of its machine of passive reception is followed the tracks of.Support " air position message " data that the S pattern answering machine of TCAS cross link ability (as shown in the CC=1 during DF=0 replys) provides, should be by obtain its " air position message " data, measuring distance, bearing data and take the report in AC field domain that the inquiry containing UF=0, RL=1 and BDS=5 obtains highly to confirm simultaneously.If do not receive reply, if or reply and not comprise effective latitude, longitude and the altitude information in " air position message ", should transmit the additional inquiry of confirming.
Step 4, when using PASSIVE SURVEILLANCE to follow the tracks of, every a break time, according to the height and distance of intruder, judge whether an intruder exists the condition that threatens aircraft of mixing, if meet, mix the condition that threatens aircraft, system jumps to initiatively and monitors and follow the tracks of.Tracking data is before all the information that has the broadcast of its machine, and what its machine adopted is that DF17 carries out height, and latitude and longitude information sends.The machine calculates distance according to the latitude and longitude information of the latitude and longitude information of its machine and the machine.Forward to after initiatively supervision, the machine need to be inquired UF0 interrogating signal, and the DF0 that its machine answering machine is answered has comprised height, and range information, does not need the calculating through a series of formula, but simple conversion is to obtaining distance.
If step 5 PASSIVE SURVEILLANCE data unavailable (as GPS catastrophic failure causes providing airborne positional information), system should jump to initiatively and monitor and follow the tracks of.
Step 6, when using PASSIVE SURVEILLANCE to follow the tracks of, also should to PASSIVE SURVEILLANCE data, send once initiatively inquiry according to distance different every 10s or 60s and confirm that the state of passive tracking verifies again, once authentication failed again, system should jump to initiatively and monitor and follow the tracks of.
Preferably, the mixing of first intruder being carried out in described step 4 before described step 2 threatens the judgement of the condition of aircraft, if do not meet, does not mix and threatens the condition of aircraft to carry out step 2 again.
Preferably, in step 2, the condition of potential threat aircraft is: under initiatively monitoring, and do not exist the arbitrary condition that meets following two conditions in traffic alarm situation just can proceed to PASSIVE SURVEILLANCE state:
Condition c),
Condition d),
Wherein: s=| the machine height-its machine height |=difference in height, the ft of unit;
The rate of change of difference in height s, the ft/s of unit, negative value represents that difference in height reduces;
R=oblique distance, the NM of unit (oblique distance of tracked aircraft);
Sign (x) if=1 x >=0; If-1 x < 0.
Preferably, in step 4, mix and threaten the condition of aircraft to be: if following condition meets simultaneously, the tracking in PASSIVE SURVEILLANCE state should be switched to active monitored state;
Condition a),
Condition b),
Compared with prior art, the present invention, owing to having taked above technical measures, makes original airborne collision avoidance system can greatly reduce the active inquiry to aircraft, by passive receive information, replaces initiatively inquiry response information, thereby reduce TCAS interrogation frequency, reduced the signal of TCAS inquiry in spatial domain.
Accompanying drawing explanation
Fig. 1 has applied the airborne collision avoidance system block diagram of combination surveillance method;
Fig. 2 combination surveillance schematic diagram;
Fig. 3 combination surveillance detailed step process flow diagram;
Embodiment
Below the present invention is described in further details.
A kind of method that airborne collision avoidance system combination surveillance is followed the tracks of, based on Automatic dependent surveillance broadcast (ADS-B) technology, carry out passive tracking, utilize the active inquiry of airborne collision avoidance system (TCAS) self to carry out active tracking, the switching of state is initiatively being carried out in combination surveillance between supervision and PASSIVE SURVEILLANCE, by PASSIVE SURVEILLANCE, replace part initiatively to monitor, the interrogation frequency of airborne collision avoidance system is reduced, increase airborne collision avoidance system surveillance distance, reduce the signal of inquiring in spatial domain simultaneously.Fig. 1 is that the method that a kind of airborne collision avoidance system combination surveillance of the present invention is followed the tracks of is applied in the block diagram in airborne collision avoidance system.The method that a kind of airborne collision avoidance system combination surveillance of the present invention is followed the tracks of is a kind of supervision method, as shown in Figure 1, the combination surveillance TCAS equipment of mentioning in this example, its PASSIVE SURVEILLANCE data are by the broadcast of S mode expansion squitter signal and reception, i.e. 1090MHz ADS-B.It is to take TCAS equipment as basis, has increased the latitude and longitude information that PASSIVE SURVEILLANCE data provide.As can be seen from the figure, compare the Minimum requirements that meets D0-185A standard TCAS, combination surveillance TCAS is many, and an airborne position information source provides latitude and longitude information.System receives the machine positional information (longitude and latitude data) by ARINC429 bus, and by monitoring the radiofrequency signal (DF=17) of its machine S pattern answering machine broadcast, obtains the positional information of its machine.The present invention uses in the surveillance software monitoring in S pattern, and the S that is embedded in the tenacious tracking state of original airborne collision avoidance system follows the tracks of in treatment scheme.
Fig. 2 is owing to bumping, and how system confirms from having that the PASSIVE SURVEILLANCE of function is transitioned into the schematic diagram initiatively monitoring.When intruder draws near near the machine, once intruder will form collision threat at once, use is initiatively monitored it is followed the tracks of.When intruder can not constitute a threat to, use PASSIVE SURVEILLANCE to follow the tracks of it, and use TCAS initiatively to inquire a PASSIVE SURVEILLANCE position of per minute confirmation.When intruder constitutes a threat to soon aspect height or distance (but not the two simultaneously), use PASSIVE SURVEILLANCE to follow the tracks of it, and use TCAS initiatively to inquire a PASSIVE SURVEILLANCE position of every 10 second time confirmation.When intruder constitutes a threat to soon simultaneously aspect height and distance, use initiatively and monitor and with 1Hz interrogation frequency, it is followed the tracks of.Determine that condition that intruder soon constitutes a threat to will guarantee that system is transitioned into initiatively in time and monitor, to send where necessary air traffic warning information (TA) and decision information (RA).
Fig. 3 has shown detailed step of the present invention:
(1) system initially adopts initiatively and monitors intruder is followed the tracks of.
(2) if intruder does not meet and mixes the condition that threatens aircraft, potential threat aircraft condition is judged.It is same outline that potential threat and mixing threaten, and for be switched to the threat inspection initiatively monitoring from PASSIVE SURVEILLANCE, its Tau is larger a little than TA/RA.Its meaning is from PASSIVE SURVEILLANCE is switched to initiatively supervision to also have one period of surge time to carry out active and follow the tracks of, and makes the tracking data obtaining all based on initiatively monitoring, thereby TA/RA is reported follow the tracks of with standard TCAS, is consistent.Condition c and condition d are potential threat standard.
(3) if the condition criterion intruder of potential threat aircraft does not exist potential threat, and its airborne position signalling is by checking (validation), and system should jump to PASSIVE SURVEILLANCE and follows the tracks of.Support " air position message " data that the S pattern answering machine of TCAS cross link ability (as shown in the CC=1 during DF=0 replys) provides, should be by obtain its " air position message " data, measuring distance, bearing data and take the report in AC field domain that the inquiry containing UF=0, RL=1 and BDS=5 obtains highly to confirm simultaneously.If do not receive reply, if or reply and not comprise effective latitude, longitude and the altitude information in " air position message ", should transmit the additional inquiry of confirming.
(4), when using PASSIVE SURVEILLANCE to follow the tracks of, mix and threaten the condition of aircraft to answer judgement per second once.If the distance of intruder and the highly satisfied condition that threatens aircraft of mixing, system should jump to initiatively and monitor and follow the tracks of.
(5) if PASSIVE SURVEILLANCE data unavailable (as catastrophic failure causes providing airborne positional information), system should jump to initiatively and monitor and follow the tracks of.If do not receive " the air position message " of the S pattern address of built vertical tracking, or the built vertical tracking of the monitored state that has the initiative all should remain in initiatively monitored state.
(6) when using PASSIVE SURVEILLANCE to follow the tracks of, also should the cycle PASSIVE SURVEILLANCE data are verified to (revalidation) again, once authentication failed again, system should jump to initiatively and monitor and follow the tracks of.
Mix to have threatened standard definition PASSIVE SURVEILLANCE state and the switch condition of monitored state initiatively, in combination surveillance flow process, has adopted mixing threat condition and potential threat condition to decide to adopt initiatively to monitor or PASSIVE SURVEILLANCE.Condition a and condition b are that mixed type threatens standard:
Wherein: s=| the machine height-its machine is from degree |=poor from degree, the ft of unit;
The rate of change of difference in height s, the ft/s of unit, negative value represents that difference in height reduces;
R=oblique distance, the NM of unit (oblique distance of tracked aircraft);
Sign (x) if=1 x >=0; If-1 x < 0.
If above condition is true simultaneously, the tracking in PASSIVE SURVEILLANCE state should be switched to active monitored state.The Range And Range Rate using in above-mentioned calculating should only be determined according to PASSIVE SURVEILLANCE range observation.When originally tracking is transitioned into PASSIVE SURVEILLANCE, be no more than 5 and monitor in interlude sections update time, range rate is determined in the PASSIVE SURVEILLANCE report that may occur to provide enough.When PASSIVE SURVEILLANCE range rate cannot be provided, above the 2nd condition should be regarded as vacation.
Condition c and condition d are potential threat standard.The tracking of monitored state has the initiative, if it is true not meeting active guard condition and following arbitrary condition, should be transitioned into PASSIVE SURVEILLANCE, but prerequisite is that this tracking is current does not constitute a threat to (air traffic warning information or decision-making warning information do not occur), condition is as follows:
The range rate using in more than calculating should be determined according to active range measurements.If range rate estimated value cannot be provided, should be assumed to be-1200kt.PASSIVE SURVEILLANCE district and initiatively monitor difference between district can between PASSIVE SURVEILLANCE is followed the tracks of and initiatively followed the tracks of, form Tau be 5 seconds, highly be 400 feet, apart from being the combination surveillance transition window (hysteresis phenomenon) of 0.2NM.
Obtaining the machine and its machine latitude and longitude information is mainly in order to calculate the distance of its machine and the machine.Following formula is accurately scaled x, y, z the earth's core body-fixed coordinate system by the WGS-84 ellipsoid model of globe adopting according to GPS by latitude, longitude with from the height of WGS-84 ellipsoid, according to the value of x, y, z, calculates oblique distance again:
x＝(N+h)cosφcosλ；y＝(N+h)cosφsinλ；z＝(N(1-e
2)+h)sinφ。Wherein: N=a/ (1-e
2sin
2φ)
1/2length between=point (φ, λ) perpendicular to the straight line of ellipsoid on ellipsoid and this straight line and the intersection point of ellipsoid axis; H=is from the height of WGS-84 ellipsoid; φ=geodetic latitude; λ=geodetic longitude; e
2=(a
2-b
2)/a
2=WGS84 ellipsoid the first eccentricity square=6.69437999014 * 10
-3; Semi-major axis=the 6378137.0m of a=WGS84 ellipsoid; Semi-minor axis=the 6356752.3142m of b=WGS84 ellipsoid.He Ta seat in the plane, the machine position is put and is scaled x, y, z, then by normalized form, calculate oblique distance:
R
2=(x
its machine-x
the machine)
2+ (y
its machine-y
the machine)
2+ (z
its machine-z
the machine)
2more than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that in above-described embodiment and instructions, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (6)
1. an airborne collision avoidance system combination surveillance tracking, comprises following steps:
Step 1, airborne collision avoidance system initially adopt and initiatively monitor intruder is followed the tracks of, and by the machine, send inquiry message, invasion machine is replied and communicated;
Step 2, according to the height and distance of intruder, judge whether to exist the condition of potential threat aircraft;
If the condition criterion intruder of step 3 potential threat aircraft does not exist potential threat, and its airborne position signalling is by checking, and system jumps to PASSIVE SURVEILLANCE and follows the tracks of, and the broadcast message of its machine of passive reception is followed the tracks of;
Step 4, when using PASSIVE SURVEILLANCE to follow the tracks of, every a break time, according to the height and distance of intruder, judge whether an intruder exists the condition that threatens aircraft of mixing, if meet, mix the condition that threatens aircraft, system jumps to initiatively and monitors and follow the tracks of.
2. a kind of airborne collision avoidance system combination surveillance tracking according to claim 1, is characterized in that also comprising following steps:
If step 5 PASSIVE SURVEILLANCE data are unavailable, system should jump to initiatively and monitor and follow the tracks of.
3. a kind of airborne collision avoidance system combination surveillance tracking according to claim 1, is characterized in that also comprising following steps:
Step 6, when using PASSIVE SURVEILLANCE to follow the tracks of, also should the cycle PASSIVE SURVEILLANCE data sent once to initiatively inquiry confirm that the state of passive tracking verifies again, once authentication failed again, system should jump to initiatively and monitor and follow the tracks of.
4. a kind of airborne collision avoidance system combination surveillance tracking according to claim 1, it is characterized in that the mixing of first intruder being carried out in described step 4 before described step 2 threatens the judgement of the condition of aircraft, does not mix and threatens the condition of aircraft to carry out step 2 again if do not meet.
5. a kind of airborne collision avoidance system combination surveillance tracking according to claim 1, the condition that it is characterized in that potential threat aircraft in described step 2 is: under initiatively monitoring, and do not exist the arbitrary condition that meets following two conditions in traffic alarm situation just can proceed to PASSIVE SURVEILLANCE state:
Condition c),
Condition d),
wherein: s=| the machine height-its machine height |=difference in height, the ft of unit;
The rate of change of difference in height s, the ft/s of unit, negative value represents that difference in height reduces;
R=oblique distance, the NM of unit (oblique distance of tracked aircraft);
the NM/s of unit, negative value represents that distance reduces;
Sign (x) if=1 x >=0; If-1 x < 0.
6. a kind of airborne collision avoidance system combination surveillance tracking according to claim 1, it is characterized in that mixing and threatening the condition of aircraft to be in described step 4: if following condition meets simultaneously, the tracking in PASSIVE SURVEILLANCE state should be switched to active monitored state;
Condition a),
Condition b),
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| CN116824925A (en) * | 2023-08-31 | 2023-09-29 | 四川九洲空管科技有限责任公司 | Method for improving TCAS target track quality based on mixed monitoring |
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Application publication date: 20140326 |