CN104618088B - Wide area multistation method for synchronizing time based on ADS-B signals - Google Patents
Wide area multistation method for synchronizing time based on ADS-B signals Download PDFInfo
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Abstract
The invention discloses a kind of wide area multistation method for synchronizing time based on ADS B signals.Extension station and central station to be synchronized receive the ADS B signals for carrying aircraft-position information at the same time, and stamp local time stamp.The basic model and error model of time reference difference are calculated by establishing, the method for the ADS B locations message progress wide area multistation time synchronization for stamping time stamp is utilized and reduces the optimization method of synchronous error.The ADS B datas of acquisition are carried out in batches, screening and quality evaluation, the data substitution model met the requirements is chosen to be calculated, it is poor to obtain the time reference of extension station and central station, finally it is modified when central station carries out data processing, to complete the time synchronization of all extension stations and central station.The present invention carries out accurate time synchronization in the case of the complexity of no increase wide area multi-station positioning system, using existing known signal source to any number of multiple station systems, has important practical value.
Description
First, technical field
The present invention relates to wide area multistation time synchronization field in multiple spot positioning using TDOA, is specially that a kind of wide area multistation connects jointly
Aerial ADS-B signals are received, filter out suitable batch, are believed using the position of aircraft in the timestamp and ADS-B messages stamped
Breath, evaluates time reference difference and the method synchronized between wide area multistation.
2nd, background technology
In passive location field, multiple spot positioning using TDOA is high with its positioning accuracy, wide coverage, and networking is simple and convenient, anti-
Many advantages, such as interference performance is strong becomes a kind of most important multipoint positioning mode, all has in civilian or military affairs wide
General application.The technology of multipoint positioning most critical based on the time difference is the exact time synchronization between multistation, this is whole positioning system
The basic premise that can system effectively work., can be by physical connection (such as optical fiber) in the case where station spacing is not very big
Mode carries out time synchronization, and in the case where station spacing is larger, no matter such way is from cost, difficulty of construction or risk
On be not a good selection, but also fixed multistation can only be directed to.General way is that one known location of increase is consolidated
Cell site is determined, for the synchronization between multistation.This method has greater advantage compared with physical connection Synchronos method, it is possible to achieve flexible wide
Domain is synchronous, however it is not limited to fixed multistation.But one cell site of increase is used for synchronous inferior position and is not only embodied in increase erection and dimension
Protect in cost, while the concealed advantage of passive location is lost in Military Application, utilized in the electromagnetic spectrum of growing tension
On also be difficult to accomplish complete electromagnetic compatibility.In addition, wide area multistation also frequently with GPS altogether depending on realizing time synchronization, this side
The synchronization accuracy of formula is in tens nanoseconds so that and positioning accuracy is significantly limited, and the method based on GPS system is limited by other country,
The availability of unusual time will not ensure that.Seek a kind of do not increasing synchronized transmissions station, the situation without being bound by other country's system
The lower mechanism for realizing accurate wide area multistation time synchronization will be of great significance.
In current spatial domain, course line spreads all over, and has ten hundreds of aircrafts flying daily, except ocean overhead almost
Can not find it is a piece of with tens kilometers there is no fly past in the border circular areas of radius.The all outside electromagnetic radiation letter of all aircrafts
Number, the commercial aircraft of most of (later can be more) is fitted with ADS-B systems, itself is actively reported with 1090ES data-links
Position.This is the precondition that multistation time synchronization is carried out using ADS-B signals.Multistation passes through the ADS- in real-time reception spatial domain
B signal, stamp timestamp, and constructs signal transmission model and error model, comes by reasonably selecting some lots of data
It is poor to calculate time reference, finally the time reference of extension station is modified, realizes the exact time synchronization of multistation.It is this to be based on
The wide area multistation method for synchronizing time of ADS-B signals greatly reduce erection and operation cost, the security for improving system and
Concealment, very huge meaning is suffered from economic and military affairs.
3rd, the content of the invention
The object of the present invention is to provide a kind of using ADS-B signals carry out exact time synchronization to wide area multistation in the air
Method, in the case where not increasing system complexity, improve the precision of multistation time synchronization.Application claims are to be synchronized
Extension station and reception spatial domain of the central station to ADS-B signals have intersection, to ensure when extension station and central station carry out time synchronization
There is the aircraft equipped with ADS-B regarded altogether.
The present invention provides a kind of method that exact time synchronization is carried out to wide area multistation using aerial ADS-B signals,
Including：
(1) wide area multistation receives ADS-B signals and stamps local time stamp, the message for stamping local time stamp is passed through original
Channel is transmitted to central station；
(2) the ADS-B messages that extension station to be synchronized and central station all receive are selected, to it by No. ICAO point
Batch, it is chosen at the batch for there are a data on same section of course line；
(3) lot data selected in (2) is joined according to position message amount, continuity, navigation accuracy grade three
Number carries out comprehensive assessment, and priority ranking is carried out according to assessment result；
(4) the one group of data (data for including at least one batch) met the requirements are selected；
(5) data of each batch in (4) are calculated into central station and some according to ADS-B signal transmissions model and error model
The sample of time reference difference between extension station to be synchronized, and the priority ranking in (3) sets each batch data to calculate
Time reference difference sample weights；
(6) the time reference difference and weights in basis (5), estimates the time reference of this extension station and central station to be synchronized
Difference；
(7) the time reference correction amount to corresponding extension station is obtained according to the result in (6), data processing is carried out in central station
When, this correction amount is all added to the time stab information from corresponding extension station, central station time reference is arrived with unified；
(8) other extension stations are synchronized to central station one by one according to (5)~(7) step, complete multistation time synchronization.
The present invention increases ADS-B receive capabilities on the basis of existing wide area multiple station systems, by flying equipped with ADS-B systems
Machine is brought into system and is modeled, and calculates the time difference of extension station and main website, realizes the time synchronization of wide area multistation, effectively solves
Wide area multistation time synchronization is difficult and the problem of synchronization accuracy is not high, has huge a military value and economic benefit.
4th, illustrate
Fig. 1 is present invention extension station to be synchronized and central station time synchronization flow chart
Fig. 2 is ADS-B signal transmissions figure of the present invention
Fig. 3 is time reference difference computation model schematic diagram of the present invention
5th, specific implementation method
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached in the embodiment of the present invention
Figure, is clearly fully described by technical scheme.Since the elaboration to embodiment is specifically, cannot cover this
Invention all embodiments, those of ordinary skill in the art obtained on the premise of innovative labor is not made it is all its
His embodiment, belongs to protection scope of the present invention.
Fig. 1 is extension station to be synchronized of the present invention and central station time synchronization flow chart.Extension station to be synchronized and central station are each
ADS-B signals from reception spatial domain, stamp the local time stamp at each station, by legacy data passage by with time stamp respectively
ADS-B messages are sent to central station.Data source mark is carried out to the ADS-B messages from each extension station in central station, to distinguish
Come from that receiving station.The ADS-B messages that they are received jointly are carried out in batches according to No. ICAO, and are filtered out at same section
There is the batch for data of having a try on course line.To the batch that filters out according to position message amount, message continuity and ADS-B systems
The navigation accuracy of system carries out data quality accessment, and priority ranking is carried out according to assessment result.Determine whether what is met the requirements
Batch, if then that the time reference that each extension station to be synchronized and central station are calculated in data substitution time difference computation model is poor,
If the batch not met the requirements, continues waiting for the admission of more data.When obtaining all extension stations to be synchronized and central station
Time reference it is poor (estimate), when central station carries out data processing, to the timestamp from corresponding extension station plus corresponding
Correction amount, is realized on time reference all same time references to central station of all extension stations, completes multistation time synchronization.
Fig. 2 is ADS-B signal transmissions figure of the present invention.Aircraft equipped with ADS-B is outwards broadcasted certainly according to some cycles
The information such as the position of body, speed.When certain ADS-B positions message is received by all receiving stations at the same time and stamps each station local
Between stab, this ADS-B message can be set in UTC time t0Go out from airborne antenna broadcast, 1 (assuming that standing centered on station 1) of standing is in t1
Moment receives this message, stands 2 in t2... ..., the M that stands is in tMMoment receives this message, and stand 1, stand 2 ..., the time for the M that stands
The difference of benchmark and standard UTC time is respectively Δ T1、ΔT2、……、ΔTM, position of the aircraft when sending this message can be with
Obtained from message, known to the position of all receiving stations, then when can obtain message transmission, aircraft and the distance at each station are distinguished
For D1、D2、……、DM, then it can obtain：
Wherein, only t0With Δ T1、ΔT2、……、ΔTMFor unknown number, C is the light velocity.By formula (1) must can stand 2 with station 1 (in
Center station) time reference it is poor, be
ΔT1-ΔT2=t1-t2+(D2-D1)/C (2)
Other stations can similarly be obtained and the time reference of central station is poor, when central station handles the timestamp from each extension station,
Corresponding correction amount is all added, that is, is completed synchronous.
Fig. 3 is time reference difference computation model schematic diagram of the present invention.In fig. 2, only account for ideally
Multistation stationary problem, in this case, it is only necessary to which extension station to be synchronized receives adjacent two ADS-B positions with central station and reports jointly
Text can be achieved synchronous.But reality is the position that aircraft is reported and non-aircraft actual location residing at that time, mainly there is two here
A factor：First, the position error of airborne navigational system；Second, between positioning and message transmission, there are time delay.It is airborne herein to lead
The position error of boat system accounts for secondary cause, and transmission delay accounts for principal element.Therefore only considering fixed transmission delay, it can set：Treat
Synchronous extension station receives the position message of n-th airplane with central station jointly, and the position that aircraft is reported is PBN, aircraft it is true
Real position is PRN, both distances are Δ L；Position is reported as vertex using aircraft, using the line of course line and 1 (central station) that arrive at a station as two
Side, its angle are θBN1, can equally obtain θBN2、θRN1、θRN2Definition；Aircraft report position, aircraft actual position with station 1, stand 2 it
Between distance be respectively DBN1、DBN2、DRN1、DRN2.In formula (2), D2, D1 should use the actual position of aircraft between two stations
Distance DRN2、DRN1.And the actual position of target can not be known, that participate in computing is DBN2And DBN1.Since Δ L is hundred meters
Magnitude, and plane distance receiving station is generally ten kilometers, it is possible to think θBN1=θRN1、θBN2=θRN2, then have
Formula (3) is substituted into formula (2) to obtain：
ΔT1-ΔT2=tN1-tN2+(DBN2-DBN1+ΔL*(cos(θBN1)-cos(θBN2)))/C (4)
In formula (4), only Δ L is unknown.In view of when this airplane this position of inversely flying in this course line it is (approximate
) when, the minus sign in formula (3) will be changed into plus sige.Two reported when having a try by receiving aircraft one and fly over this position
ADS-B messages, the value of available two time references difference, are averaging it to obtain Δ T1T2(N), you can eliminate what LL was brought
Influence, namely be reduction of since the synchronous error that fixed forward delay interval is brought influences.
For the error introduced by position error and transmission random delay, due to its Normal Distribution, can pass through
To data array obtained by calculation [the Δ T of some batch1T2(1)、ΔT1T2(2)、…ΔT1T2(N)] it is averagingTo reduce.
The quantity of extension station to be synchronized is not intended to limit to the time synchronization of wide area multistation in the present invention, in theory can be with same
Group data carry out time synchronization to any number of stations more than two stations, but require all stations to receive same ADS-B
Message difficulty in Practical Project is larger, this will cause the data that meet the requirements very limited, or even can not obtain, so that can not
Carry out multistation time synchronization.But multiple extension stations can be divided into several extension station groups to be synchronized by we, utilize multi-group data
Synchronized respectively with central station for multigroup extension station, finally can also realize the time synchronization of multistation.
Claims (3)
1. the wide area multistation method for synchronizing time based on ADS-B signals, it is characterised in that carry aircraft certainly using existing in the air
The method that the ADS-B signals of body position carry out wide area multistation exact time synchronization, is specially：
(1) wide area multistation receives ADS-B signals and stamps local time stamp, and the message for stamping local time stamp is passed through original line
Road is transmitted to central station；
(2) the ADS-B messages that extension station to be synchronized and central station all receive are selected, No. ICAO is pressed to it and is carried out in batches, choosing
Take has the batch of a data on same section of course line；
(3) to the lot data selected in (2) according to position message amount, continuity, three parameters of navigation accuracy grade into
Row comprehensive assessment, priority ranking is carried out according to assessment result；
(4) the one group of data met the requirements are selected, include the data of at least one batch；
(5) data of each batch in (4) are calculated central station according to ADS-B signal transmissions model and error model to treat together with some
Walk extension station between time reference difference sample, and in (3) priority ranking setting each batch data calculate when
Between benchmark difference sample weights；
(6) it is poor according to the time reference difference in (5) and weights, the time reference for estimating this extension station and central station to be synchronized；
(7) the time reference correction amount to corresponding extension station is obtained according to the result in (6), when central station carries out data processing,
This correction amount is all added to the timestamp information from corresponding extension station, central station time reference is arrived with unified；
(8) other extension stations are synchronized to central station one by one according to (5)~(7) step, complete multistation time synchronization.
2. the wide area multistation method for synchronizing time according to claim 1 based on ADS-B signals, it is characterised in that：It is described
The basic thought that calculates of time reference difference be the timestamp stamped by the distance and receiving station that obtain aircraft and receiving station
It is poor to carry out the anti-time reference released between two stations.
3. the wide area multistation method for synchronizing time according to claim 1 based on ADS-B signals, it is characterised in that：Pass through
Using certain airplane the evaluated error as caused by fixed transmission delay is reduced in the data that certain position one is had a try；By at certain
Multiple data on section course line reduce the evaluated error as caused by position error and random transmission delay.
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| CN105227400B (en) * | 2015-09-16 | 2018-09-04 | 大连理工大学 | A kind of adaptive estimation method for time-varying ADS-B message time delays |
| CN111263294B (en) * | 2020-01-08 | 2021-03-02 | 北京邮电大学 | Time synchronization method and device between equipment nodes based on airplane broadcast signals |
| CN111585639B (en) * | 2020-04-27 | 2021-05-04 | 上海航天计算机技术研究所 | Monitoring method and device for satellite-borne ADS-B message and storage medium |
| CN112394372A (en) * | 2020-11-06 | 2021-02-23 | 四川九洲空管科技有限责任公司 | Method and system for evaluating multipoint positioning performance based on ADS-B recorded data |
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| CN101917760A (en) * | 2010-08-02 | 2010-12-15 | 中国科学院国家授时中心 | Common view principle-based unilateral time transmission method |
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| CN102854515A (en) * | 2012-03-31 | 2013-01-02 | 航天东方红卫星有限公司 | Method for calibrating combination zero value under constellation positioning mode |
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| CN103675804A (en) * | 2013-11-14 | 2014-03-26 | 中国航天科技集团公司第五研究院第五一三研究所 | Inter-satellite ranging method based on dual-satellite time synchronization |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101917760A (en) * | 2010-08-02 | 2010-12-15 | 中国科学院国家授时中心 | Common view principle-based unilateral time transmission method |
| EP2579062A1 (en) * | 2011-10-07 | 2013-04-10 | Thales | Spatial augmentation system adapted to improve the accuracy and reliability of data delivered by a satellite navigation system, and associated method |
| CN102854515A (en) * | 2012-03-31 | 2013-01-02 | 航天东方红卫星有限公司 | Method for calibrating combination zero value under constellation positioning mode |
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