CN104777464A - Method of utilizing ADS-B data to realize multi-radar data semi-physical simulation - Google Patents

Abstract

The invention discloses a method of utilizing ADS-B data to realize multi-radar data semi-physical simulation. The method comprises the following steps: performing simulation on multi-radar data; with the received ADS-B real-time data as a data source; receiving the ADS-B data by set radar sensors; simulating the scanning process of radar antennas by the sensors for target screening; further realizing ceaseless generation of the multi-radar data and forming the stable multi-radar data source. According to the method disclosed by the invention, the ADS-B real-time dynamic information is used as the test information source to perform simulating generation on the multi-radar data; the result shows that the multi-radar data semi-physical simulation method can realize continuous and stable generation of the multi-radar message data; the message is high in accuracy, the established simulation software is good in universality, flexibility and expandability and provides an important basis for further development of the related multi-radar data.

Description

ADS-B data are utilized to realize the method for many radar datas hardware-in-the-loop simulation

Technical field

The invention belongs to semi-true object emulation technology field, particularly relate to a kind of method that the ADS-B of utilization data realize many radar datas hardware-in-the-loop simulation.

Background technology

Multi-radar data processing is the core of modern wireless air traffic management and command system, and the ability producing many radars or multi-source data is prerequisite and the basis of research and exploitation modern wireless air traffic management and command system.

The eighties in 20th century, China successfully develops digital moving-target simulator, this simulator is after the input signal receiving a certain frequency, through one section of controlled digital delay, the output signal superposing a Doppler shift on same frequency can be obtained at output terminal, achieve the analogue simulation to radar dynamic object.From 90 years, along with the continuous increase of domestic air traffic control analogue simulation system demand, graph image research institute of Sichuan University adopts personal computer as system cloud gray model platform, sets up relatively real radar data system, build regulatory environments true to nature by simulation, be proposed DRS-90 successively, DRS-93, DRS-2000 radar simulation machine, saves hardware cost greatly, analogue simulation is trained and can be widely used in air control training field, to give training controller.Along with the quick increase of spatial domain flow, blank pipe analogue simulation system is had higher requirement, therefore improve the authenticity of analogue system simulated data, just become the key factor of present simulation system development.

The blockade on new techniques of current domestic blank pipe many radar datas system core technology breaks through foreign major vendor, many radar simulations number generator of development generates many radar datas, achieves successfully through multi-radar data processing system verification.But as a whole, also there is a certain distance compared with international most advanced level.Do more comprehensive, in design to many radar data research abroad: the mode combined with software and hardware on the one hand, expands simulation system dirigibility; Adopt digital signal and microprocessor technology on the other hand, and in conjunction with Industry Standard Architecture structure to carry out modular design, its performance is improved.

Along with the increase day by day of many radar datas demand, the breaks through foreign blockade on new techniques of more domestic departments, adopts hardware mode to succeed in developing many radar datas analog generator, can simulate and generate many radar datas.But compared with international most advanced level, in the versatility of comprehensive, the system of radar data simulation, expandability, compatibility and commercialization etc., also there is a certain distance, be therefore difficult in the short time realize catching up with and surpassing of entity aspect.Along with the fast development of computer simulation technique, adopt software mode can overcome many shortcomings of hardware research and development, carry out many radar datas simulation Technique Study and become important trend.Carry out simulation study for many radar datas, increase the reliability of its Simulation result data, for carrying out, multi-radar data processing is significant.

On the other hand, as the Main way that following surveillance technology develops, the application of ADS-B (Automatic dependent surveillance broadcast) technology is being actively pushed forward in World Airways field, makes surveillance style progressively be converted to ADS-B from radar.For radar, it is lower that ADS-B has cost, and applicable elements requires the advantages such as not harsh, and can ensure the real flight information of record reflection aircraft.The relevant simple machine that can carry out ADS-B data receiver is at present also varied, is convenient to obtain.ADS-B data message and radar data information have higher similarity, based on ADS-B many radar datas analogue system developed and there is important Research Significance, be conducive to carrying out of the correlative study work of later stage in blank pipe command technology, to reliability, the maintainability improving air traffic control system, there is realistic meaning.

Summary of the invention

In order to solve the problem, the object of the present invention is to provide one can meet many radar datas high-quality, many radar datas Hardware In The Loop Simulation Method of the continual and steady actual demand produced.

In order to achieve the above object, the invention provides and utilize ADS-B data to realize many radar datas Hardware In The Loop Simulation Method to comprise the following step of carrying out of order:

(1) the S1 stage that ADS-B data set up simulation system data source is received;

(2) to the data in step (1) described data source carry out pre-service and distribution the S2 stage;

(3) set up single radar sensor, the data that receiving step (2) is distributed are to realize the screening of target and the S3 stage of screen display thereof;

(4) carry out coding formation standard format radar message by screening the data obtained in step (3), and undertaken by Message Protocol transmitting the S4 stage sent;

(5) multiple sensor is set up to realize the S5 stage that many radars message data continues generation according to step (3) and (4).

In step (1), the method that described reception ADS-B data set up simulation system data source utilizes ground ADS-B receiver to receive the raw data of real ADS-B data as analogue system, real-time flight data is read immediately and resolves, what obtain aircraft comprises ICAO identification code, secondary radar identification code, in real time longitude, latitude, high levels of three-dimensional position, speed, course, the information of time, and then sets up simulation system data source.

In step (2), described pre-service is carried out to the data in step (1) described data source and the method for distribution is ADS-B data comprising bulk information block after step (1) being resolved carries out pre-service, by aircraft longitude and latitude, highly, speed carries out extracting and preserving at interior useful information, then carries out broadcast type distribution by User Datagram Protoco (UDP) to above-mentioned pretreated data.

In step (3), described foundation list radar sensor, the data that receiving step (2) is distributed are arrange single radar sensor to realize the screening of target and the method for screen display thereof, to sensor geographic position, operating distance, antenna angle, scan period defines at interior parameter information, the data that this sensor receiving step (2) is distributed also utilize the earth's core body-fixed coordinate system conversion method to calculate target relative to the oblique distance of sensor and azimuth information, and then target is screened, and be that the target filtered out is carried out screen display by reference point with sensor.

In step (4), described carries out coding formation standard format radar message by screening the data obtained in step (3), and to be undertaken transmitting the method sent by Message Protocol be carry out data encoding according to ASTERIX standard format to form 001 class radar target report message and 002 class radar service message on object filtering basis, carry out the transmission of message according to high-level data link control procedure (High-level Data Link Control, HDLC) host-host protocol and its time delay is introduced again.

In step (5), described set up multiple sensor according to step (3) and (4) to realize the method that many radars message data continues to generate be according to step (3) and (4), set up single-sensor on multiple computers successively and carry out different parameter configuration, these sensors receive the ADS-B data of distribution simultaneously, carry out data screening respectively, the transmission of data encoding and message sends, thus build many radar datas Simulation System Platform, realize the lasting generation of many radar datas.

The ADS-B of utilization data provided by the invention realize many radar datas Hardware In The Loop Simulation Method and are realizing while many radar datas generate, and the analogue system of foundation also has good versatility, dirigibility, and it is perfect to carry out Persisting exploitation.The method utilizes Visual Studio environment exploitation procedure simulation to set up multiple radar sensor, carries out screening and generates radar message and send, realize the uninterrupted generation of many radar datas, form stable many radar datas source the ADS-B data received.The inventive method utilizes ADS-B real-time dynamic information as experiment information source, the many radar datas semi-true object emulation technology proposed can realize the continual and steady generation of many radars message data, and message has very high accuracy, for the further exploitation of relevant many radar datas lays the foundation.

Accompanying drawing explanation

Fig. 1 is that the ADS-B of utilization data provided by the invention realize many radar datas Hardware In The Loop Simulation Method process flow diagram;

Fig. 2 is antenna scanning " position angle-time " graph of a relation;

Fig. 3 is single radar sensor basic interface figure;

Fig. 4 is analogue system overall design framework map;

Fig. 5 is two sensor code Design process flow diagrams;

Fig. 6 is analogue system operation result display figure: (a) ADS-B data receiver display figure (sensor does not start antenna scanning); The reception process figure of (b) two sensor coding messages; (c) two sensor target message decoding display figure.

Embodiment

Realize many radar datas Hardware In The Loop Simulation Method below in conjunction with the drawings and specific embodiments to the ADS-B of utilization data provided by the invention to be described in detail.

Fig. 1 is that the ADS-B of utilization data provided by the invention realize many radar datas Hardware In The Loop Simulation Method process flow diagram.

As shown in Figure 1, the ADS-B of utilization data provided by the invention realize many radar datas Hardware In The Loop Simulation Method and comprise the following step carried out in order:

(1) the S1 stage that ADS-B data set up simulation system data source is received:

Setting up the generation of data source realize target data, is the basis realizing the emulation of many radar datas.

The local tracks data that blank pipe multi-radar data processing system is sent here by real-time collecting each radar are as multi-radar data processing DSN.Current commerical radar is of a great variety, and the data format introducing many radar datas system is also different.Although ASTERIX standard does not specify providing the radar type of information, the data requiring all radar systems to provide all have some common essential informations, comprise the coded messages such as orientation, A-Mode/C-Mode, speed.Therefore the data source that adopts of analogue system need to provide comprise target azimuth, highly, the essential information such as speed, and require that data source information is stablized, continue to provide.

The similarity of information is comprised based on ADS-B data and radar data, the present invention utilizes ground ADS-B receiver to receive the raw data of real ADS-B dynamic data as analogue system, continuous reception raw data also immediately reads and resolves, obtain aircraft: the information such as ICAO identification code, secondary radar identification code, real-time three-dimensional position (longitude, latitude, highly), speed, course, time, set up simulation system data source according to this.

(2) to the data in step (1) described data source carry out pre-service and distribution the S2 stage:

Comprise a large amount of message block in the raw data received by ADS-B ground receiver, need the ADS-B data message of parsing effectively to extract, only preservation is carried out to the useful information relevant to radar data and utilize.

The ADS-B real-time flight data comprising bulk information block after parsing is carried out pre-service by the present invention, namely dividing processing is carried out to the data after parsing, form data (1 the data i.e. information of an airplane) one by one, every bar data are only extracted effective information block and are preserved, comprise the longitude of aircraft, latitude, highly, speed, course etc.The present invention, by UDP wireless transmission protocol, carries out broadcast type distribution to above-mentioned each data pretreated.

(3) set up single radar sensor, the data that receiving step (2) is distributed are to realize the screening of target and the S3 stage of screen display thereof:

This analogue system is intended to simulate actual secondary radar scanning process, carries out data screening and forms many radars message data, and show, can be divided into following 3 parts:

1. single radar sensor is set, defines its parameter information, specifically comprise sensor geographic position, operating distance R _max, antenna angle, the scan period, scanning sector sum etc.;

2. realize the real-time continuous reception of sensor to the ADS-B data message of distribution by creating dynamic link library, and utilize the collection class ConcurrentQueue<T> in System.Collections.Concurrent NameSpace (type parameter T represents the element type comprised in queue) to carry out sequential storage to the ADS-B data received;

3. utilize the solid (Earth-Centered of ground heart, Earth-Fixed, ECEF) coordinate transformation method, calculate target relative to the oblique distance of sensor and azimuth information, and then target is screened, and be that the target filtered out is carried out screen display by reference point with sensor.Here 3 parts are comprised again:

1) target geographic coordinate conversion is polar coordinates, i.e. the conversion of target longitude and latitude and oblique distance, deflection;

The conversion of target longitude and latitude and oblique distance, deflection, by the solid (Earth-Centered of ground heart, Earth-Fixed, ECEF) coordinate conversion realizes, polar coordinates (the oblique distance of the positive northeast coordinate system lower sensor target being reference point foundation is converted to sensor by target " geographic coordinate " (longitude, latitude, sea level elevation), position angle, the elevation angle).Be called " local rectangular coordinate system " by positive northeast coordinate system below, polar coordinates are called " measurement coordinate ".

Geographic coordinate system regards standard spheroid body as the earth, using the earth arctic, the South Pole, equator and the first meridian etc. as will usually be described target location.Geographical coordinate position is described as (λ, L, H): λ-geographic longitude, for by reference to the dihedral angle at the beginning of the geodetic meridian plane of location point on ellipsoid and this between meridian ellipse; L-geographic latitude, for passing through the normal of reference ellipsoid and the angle of the equatorial plane of location point; H-sea level elevation, for location point is along normal to the distance of reference ellipsoid.ECEF coordinate system regards standard spheroid body as the earth, take earth centroid as coordinate origin, and X-axis is through Greenwich meridian circle; Z axis points to the conventional international origin (CIO) of the arctic; Y-axis is with X, Z axis orthogonal by equatorial plane.Under local rectangular coordinate system, with selected reference point for coordinate origin, x-axis points to direction, geographical due east through reference point, and y-axis points to geographical direct north through reference point, and z-axis is by x, the orthogonal generation of y-axis.

Concrete steps are as follows:

A. radar sensor " geographic coordinate " turns " ECEF coordinate ";

If radar sensor " geographic coordinate " is (λ _s, L _s, H _s), its " ECEF coordinate " is (X _s, Y _s, Z _s):

$\left\{\begin{array}{c}{X}_S=(C_S+H_S)\&CenterDot;\cos \left(L_S\right)\&CenterDot;\cos \left({\mathrm{\&lambda;}}_S\right)\\ Y_S=(C_S+H_S)\&CenterDot;\cos \left(L_S\right)\&CenterDot;\sin \left({\mathrm{\&lambda;}}_S\right)\\ Z_S=[C_S\&CenterDot;(1-e^2)+H_S]\&CenterDot;\sin \left({\mathrm{\&lambda;}}_S\right)\end{array}\right.---\left(1\right)$

In formula: e is eccentricity of the earth (constant), a is semimajor axis of ellipsoid radius (constant), C _sfor prime vertical radius, and:

$C_S=a/\sqrt{1-e^2\&CenterDot;{\sin }^2\left(L_S\right)}---\left(2\right)$

B. target " geographic coordinate " turns " ECEF coordinate ";

If target " geographic coordinate " is (λ, L, H), its " ECEF coordinate " is (X, Y, Z):

$\left\{\begin{array}{c}X=(C+H)\&CenterDot;\cos \left(L\right)\&CenterDot;\cos \left(\mathrm{\&lambda;}\right)\\ Y=(C+H)\&CenterDot;\cos \left(L\right)\&CenterDot;\sin \left(\mathrm{\&lambda;}\right)\\ Z=[C\&CenterDot;(1-e^2)+H]\&CenterDot;\sin \left(\mathrm{\&lambda;}\right)\end{array}\right.---\left(3\right)$

In formula: e is eccentricity of the earth (constant), a is semimajor axis of ellipsoid radius (constant), and C is prime vertical radius, and:

$C=a/\sqrt{1-e^2\&CenterDot;{\sin }^2\left(L\right)}---\left(4\right)$

C. by " the measurement coordinate " of target, its coordinate in " local rectangular coordinate system " is calculated;

If " the measurement coordinate " of target is (r, θ, φ), wherein r is oblique distance, θ is position angle, φ is the elevation angle, and its " local rectangular coordinate " is (x _t, y _t, z _t):

$\left\{\begin{array}{c}{x}_t=r\&CenterDot;\cos \left(\mathrm{\&theta;}\right)\&CenterDot;\cos \left(\mathrm{\&phi;}\right)\\ y_t=r\&CenterDot;\cos \left(\mathrm{\&theta;}\right)\&CenterDot;\sin \left(\mathrm{\&phi;}\right)\\ z_t=r\&CenterDot;\sin \left(\mathrm{\&phi;}\right)\end{array}\right.---\left(5\right)$

D. apply coordinate system rotational transform, calculate " the local rectangular coordinate " of radar target;

If target " local rectangular coordinate " (x _t, y _t, z _t), application rotation matrix is obtained by " the earth's core body-fixed coordinate system ":

$\left[\begin{array}{c}{x}_t\\ y_t\\ z_t\end{array}\right]=T_S^T\left[\begin{array}{c}X-X_S\\ Y-Y_S\\ Z-Z_S\end{array}\right]---\left(6\right)$

Wherein T _sfor rotation matrix:

$T_S=\left[\begin{array}{ccc}-\sin \left(L_S\right)& -\cos \left(L_S\right)\&CenterDot;\sin \left({\mathrm{\&lambda;}}_S\right)& \cos \left(L_S\right)\&CenterDot;\cos \left({\mathrm{\&lambda;}}_S\right)\\ \cos \left(L_S\right)& -\sin \left(L_S\right)\&CenterDot;\sin \left({\mathrm{\&lambda;}}_S\right)& \sin \left(L_S\right)\&CenterDot;\cos \left({\mathrm{\&lambda;}}_S\right)\\ 0& \cos \left({\mathrm{\&lambda;}}_S\right)& \sin \left({\mathrm{\&lambda;}}_S\right)\end{array}\right]---\left(7\right)$

E. composite type (5) and formula (6), can obtain " measurement coordinate " (r, θ, the φ) of target.

Target oblique distance r is:

$r=\sqrt{x_t^2+y_t^2+z_t^2}---\left(8\right)$

Azimuth of target θ, its calculating can be divided into following 4 kinds of situations:

Situation 1: if (x _t=0, y _t>0), then θ is 0, illustrates that target is just northern at sensor;

Situation 2: if (x _t=0, y _t<0), then θ is 180, illustrates that target is at sensor Due South;

Situation 3: if x _t>0, then:

Illustrate that target is in (0,180) scope, be positioned at sensor in the east;

Situation 4: if x _t<0, then:

Illustrate that target is in (180,360) scope, is positioned at sensor west.

Target elevation φ is:

$\mathrm{\&phi;}=\arcsin \left(\frac{z_t}{\sqrt{x_t^2+y_t^2+z_t^2}}\right)---\left(11\right)$

So far the conversion of target longitude and latitude and oblique distance, deflection is achieved.

2) screening of target data, namely filters out corresponding sensor target according to oblique distance and position angle;

The present invention carries out data screening according to radar antenna scan mechanism, and its Rule of judgment is: when antenna scanning is to t, and whether target data is in respective sectors.Two steps specifically can be divided into judge:

First determines that target is within the scope of sensor operating distance.By r and R _maxcompare: if r is less than R _max, represent that target can be caught by radar; Otherwise then can not.

Second definition antenna scanning " position angle-time " relation as shown in Figure 2, namely determine sensor from start to be scanned up to a certain moment time antenna position, scanned region carved at this moment by antenna is U (different color block).Obtain the position angle of corresponding moment target, determine target whether within the U of antenna scanning region, determine all targets in radar coverage with this.

In addition, the present invention carries out the screening of data after radar sensor antenna scanning starts, and antenna scanning is triggered by WindowsForm forms button to be carried out.Scan button enables data screening thread after triggering, and obtains data and differentiates, this process and the reading time correlation scanning initial time and Article 1 data.Often there is difference because of the performance difference of computing machine in these two times, namely there is the regular hour poor.Time some computing powers better (arithmetic speed is very fast), the mistiming is close to 0, but some computing machines this mistiming when starting scanning is very large, sometimes even reaches 1 second.For realizing the realistic simulation of sensor to radar scanning process, need this mistiming to eliminate, thus ensure synchronously carrying out of sensor antenna initial sweep and acquisition target data.

This mistiming is that system time difference causes, and the present invention is solved by two kinds of methods:

Method 1, the system time of writing scan starter system time and reading Article 1 data, when data distribute according to timestamp, eliminates this mistiming;

Method 2, by postponing the reading time of the first number certificate, such as after scanning starts to carry out 4 seconds, obtaining Article 1 data, starting to carry out data screening.

3) target geographic coordinate conversion is that screen coordinate and longitude and latitude and screen coordinate are changed, then carries out target screen display.

Target geographic coordinate conversion is screen coordinate certain applications Lambert transforming function transformation function, and adopts GDI+ drawing to carry out target display.

First the present invention utilizes single-point Lambert to convert, and obtains the longitude and latitude direction of target relative to reference point, then longitude and latitude direction value is converted to forms coordinate, target shown in forms screen.Presentation Function employing GDI+ draws and realizes, and main application Graphics class, what be used for display coherent element is PictureBox control.For the refreshing of image, adopt the paint event of Graphics Control to carry out the operation of drawing image, the basic model of drawing is constantly heavily loaded Graphics Control.Fig. 3 is the analogue system list radar sensor basic interface figure that the present invention sets up, and screen associated display is carried out at interface according to this.

(4) carry out coding formation standard format radar message by screening the data obtained in step (3), and undertaken by Message Protocol transmitting the S4 stage sent:

" coordinating hands over data specification between MHT 4008-2000 air traffic control radar and Control Centre's facility " defines air traffic control radar message format and is mainly ASTERIX frame format, and radar message transmission format is HDLC frame format.Step (3) achieves the screening of sensor to target data, and foundation radar message standard format carries out encoding and carries out the transmission transmission of coding message on this basis.

Present invention achieves the coding to garbled data, and provide the standard format definition of 001 class radar target report and 002 class radar service report, 2 kinds of radar message datas.001 class radar target report message, comprise the position of radar target, highly, the main information such as identifying information point mark feature and flight path state, common message has radar target reporting point mark message and radar target report flight path message two type, its basic format as shown in Table 1 and Table 2:

A table 1 mark message (001 class)

Table 2 flight path message (001 class)

002 class radar service message is mainly used to radar state information to send to radar data processing system, and its message has sector to cross over message and positive north mark message two type, and its basic format is as shown in table 3:

Table 3 sector is crossed over and positive north mark message (002 class)

Wherein the second row data of table 3 are that message is crossed in sector, and message is crossed over time mark in sector, and be the time that sector Initial Azimuth crossed over by antenna, its transmission rotates synchronous with antenna; The third line data of table 3 are positive north mark message, and it crosses over message independent of sector, and it carries out transmission and sends when positive northern position crossed over by antenna.

The present invention utilizes UDP wireless transmission protocol to carry out internal lan transmission to the message data of above-mentioned coding.In radar message data sends, use multi-threading, offer multiple transmission thread according to type of message, set up SOCKET service with the transmission realizing data by each thread.Message (hexadecimal data) for coding first forms binary data through format conversion according to transmission agreement, in units of frame, carry out data transmission again, transmission sequence successively: zone bit → address → control field → message → frame check sequence → zone bit.

When the present invention also carries out target acquistion to radar, the Electromagnetic Wave Propagation time delay of generation is introduced, this relates to the delay of radar target report message, according to needing to utilize Thread.Sleep (τ) thread to control, wherein τ is time variable, definition propagation time delay variable.Set up secondary radar sensor carry out targeted scans and message send time, need to introduce the electromagnetic wave propagation time, namely sensor is when carrying out message and sending, and original basis needs carry out calculating and this travel-time sends again on adding.Travel-time t _tfor:

T _t=2r/c+t _r(12) wherein r is oblique distance, and c is electromagnetic wave velocity of propagation in atmosphere, t _tfor Electromagnetic Wave Propagation T.T., t _rfor airborne answering machine answering delay time (3 is delicate).The least count unit that computing machine adopts when time-triggered protocol is 1 millisecond, t _rnegligible:

1) when r≤15 km, t _t<1 millisecond, not can think that life period postpones in the case;

2) when r>=15 km, t _t>1 millisecond, now needs to carry out delayed delivery.

This method, by the introducing postponed message transfer time, adds reliability and the verisimilitude of emulated data.

(5) multiple sensor is set up to realize the S5 stage that many radars message data continues generation according to step (3) and (4):

For realizing the emulation demand in many radar datas source, need to set up many radar sensors platform.

The present invention is according to step (3) and (4), on multiple stage computing machine, set up single-sensor successively and carry out different parameter configuration, design parameter information comprises geographic position, operating distance, antenna angle, scan period, scanning sector sum etc., these sensors receive the ADS-B data of distribution simultaneously, the transmission carrying out data screening, data encoding and message respectively sends, thus build many radar datas Simulation System Platform, realize the lasting generation of many radar datas, analogue system overall design framework as shown in Figure 4.Correlation parameter configuration can be carried out to many radar sensors according to demand, and then realize the generation of many kinds of radar message data.

Experimental result

The ADS-B of utilization data provided by the invention are realized many radar datas Hardware In The Loop Simulation Method and can be further illustrated by following experiment.

The data source that experiment adopts is the dynamic flying data of ADS-B receiver real-time reception.These dynamic datas comprise the information such as ICAO identification code, secondary radar identification code, geographic position (longitude, latitude, highly), speed, course, time.

Arrange for two sensors, its code Design flow process as shown in Figure 5.Frame diagram is divided into 3 parts, and center section is ADS-B data source, and by ADS-B antenna, receiver and a computing machine composition, realize the reception to ADS-B raw data and preprocessing function.Frame diagram left and right part is two sensors of parallel foundation, is based upon on two separate computing machines.Sensor receives the data of data source distribution, and when not starting antenna scanning, the ADS-B target data of reception directly carried out screen display and regularly refresh, one of them operating sensor design sketch is as shown in Fig. 6 (a); Start after antenna scanning, two sensors carry out the reception of ADS-B data, target data screening, screen display, coding respectively and carry out the transmission transmission of message data according to HDLC frame format respectively.Message utilizes UDP wireless protocols to carry out the transmission of internal lan data, crosses over message send by different transmission threads to radar target report message, positive north mark message and sector.

For the analogue system message data set up the present invention carries out analysis and assessment, establish two identical radar sensor message data reception programs, message data receiving end window interfaces comprises two parts, a part is original message data display window, comprise the direct display window of original message coded data, message count pick up window and target reporting message decoding display window (oblique distance of display-object, position angle, height and ground velocity information); Another part is the display frame of original message data decode target, is used for showing the target of decoding.Fig. 6 (b), for reception program is to the reception process figure of the coding message that analogue system two sensors send, can see the original message data one by one, message number and the object message data decode display information that are sent out respectively by analogue system two sensors.Fig. 6 (c) is the decoding target display figure to object message, and can learn that airplane icon (white point) the position general outline of two picture displays is identical, just position there occurs and moves horizontally.Analogue system is when arranging two sensor parameters, and only done variation to geographic coordinate, the two latitude and sea level elevation all keep identical, and only have longitude different, all the other parameters are all consistent.Therefore predict that its target display result also only has the difference of longitudinal, the difference namely in horizontal direction, it is consistent that this and Fig. 6 (b) show result.

Experimental result shows, the ADS-B of utilization data provided by the invention realize many radar datas Hardware In The Loop Simulation Method and had both achieved emulation to radar sensor, achieve again and generated by the stable conversion of high-quality of ADS-B data to many radar datas, many radar datas Simulation System Platform of foundation can be used for the further development research of the many radar datas of blank pipe.

Claims (6)

1. utilize ADS-B data to realize many radar datas Hardware In The Loop Simulation Method, it is characterized in that, described utilize ADS-B data to realize many radar datas Hardware In The Loop Simulation Method to comprise the following step carried out in order:

(1) the S1 stage that ADS-B data set up simulation system data source is received;

(2) to the data in step (1) described data source carry out pre-service and distribution the S2 stage;

(3) set up single radar sensor, the data that receiving step (2) is distributed are to realize the screening of target and the S3 stage of screen display thereof;

(4) carry out coding formation standard format radar message by screening the data obtained in step (3), and undertaken by Message Protocol transmitting the S4 stage sent;

(5) multiple sensor is set up to realize the S5 stage that many radars message data continues generation according to step (3) and (4).

2. the ADS-B of utilization data according to claim 1 realize many radar datas Hardware In The Loop Simulation Method, it is characterized in that: in step (1), the method that described reception ADS-B data set up simulation system data source utilizes ground ADS-B receiver to receive the raw data of real ADS-B data as analogue system, real-time flight data is read immediately and resolves, what obtain aircraft comprises ICAO identification code, secondary radar identification code, real-time longitude, latitude, high levels of three-dimensional position, speed, course, time is in interior information, and then set up simulation system data source.

3. the ADS-B of utilization data according to claim 1 realize many radar datas Hardware In The Loop Simulation Method, it is characterized in that: in step (2), described pre-service is carried out to the data in step (1) described data source and the method for distribution is ADS-B data comprising bulk information block after step (1) being resolved carries out pre-service, by aircraft longitude and latitude, highly, speed carries out extracting and preserving at interior useful information, then carries out broadcast type distribution by User Datagram Protoco (UDP) to above-mentioned pretreated data.

4. the ADS-B of utilization data according to claim 1 realize many radar datas Hardware In The Loop Simulation Method, it is characterized in that: in step (3), described foundation list radar sensor, the data that receiving step (2) is distributed are arrange single radar sensor to realize the screening of target and the method for screen display thereof, to sensor geographic position, operating distance, antenna angle, scan period defines at interior parameter information, the data that this sensor receiving step (2) is distributed also utilize the earth's core body-fixed coordinate system conversion method to calculate target relative to the oblique distance of sensor and azimuth information, and then target is screened, and be that the target filtered out is carried out screen display by reference point with sensor.

5. the ADS-B of utilization data according to claim 1 realize many radar datas Hardware In The Loop Simulation Method, it is characterized in that: in step (4), described carries out coding formation standard format radar message by screening the data obtained in step (3), and to be undertaken transmitting the method sent by Message Protocol be carry out data encoding according to ASTERIX standard format on object filtering basis, form 001 class radar target report message and 002 class radar service message, carry out the transmission of message according to high-level data link control procedure host-host protocol and its time delay is introduced again.

6. the ADS-B of utilization data according to claim 1 realize many radar datas Hardware In The Loop Simulation Method, it is characterized in that: in step (5), it is described that to set up multiple sensor with the method realizing many radars message data and continue to generate according to step (3) and (4) be according to step (3) and (4), set up single-sensor on multiple computers successively and carry out different parameter configuration, these sensors receive the ADS-B data of distribution simultaneously, carry out data screening respectively, the transmission of data encoding and message sends, thus build many radar datas Simulation System Platform, realize the lasting generation of many radar datas.