CN104808197B - A kind of many monitoring source airbound target Parallel Tracking processing methods - Google Patents
A kind of many monitoring source airbound target Parallel Tracking processing methods Download PDFInfo
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- CN104808197B CN104808197B CN201510224655.1A CN201510224655A CN104808197B CN 104808197 B CN104808197 B CN 104808197B CN 201510224655 A CN201510224655 A CN 201510224655A CN 104808197 B CN104808197 B CN 104808197B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
Abstract
The invention discloses a kind of many monitoring source airbound target Parallel Tracking processing methods, comprise the steps：Many monitoring source datas are received；Many monitoring source data parsings；Radar data process；The process of ADS B datas；Many monitoring source data fusions.By analysis is monitored to radar signal quality, monitoring accesses the quality of data of radar；Realize that the real-time reception of radar data is processed using multithreading simultaneously, further ensure that high security, high reliability and the high availability of data handling system, can quickly and accurately track the airbound target processed from different monitoring sources different types of data.
Description
Technical field
The present invention relates to a kind of many monitoring source airbound target Parallel Tracking processing methods.
Background technology
Currently, air traffic control relies basically on radar surveillance and very high frequency(VHF) (VHF) communication, and both means are all received
It is limited to line-of-sight propagation, covers that beneficial scope is relatively small, general radar surveillance is only placed only on air route, and in wide ocean spatial domain
With outlying mountain, desert or jungle area spatial domain, due to the restriction of various factors, it is impossible to realize that radar and VHF are covered, cause
The blind area of flying area, brings hidden danger to flight safety.To overcome these shortcomings, effective air traffic surveillance, state are realized
Border civil aviation organization (ICAO：International CivilAviation Organization)：A kind of new monitoring is proposed general
Read, following air traffic surveillance is set up on the basis of applied satellite technology, here it is automatic dependent surveillance (ADS：
Automatic Dependent Surveillance).1992 annual general meeting of International Civil Aviation Organization formally by with satellite navigation, defend
New air navigation system scheme based on star communicates and Data-Link communicates, so as to start air traffic control from existing continental rise
System is to new navigation system transition.New navigation system by communicating, navigate, monitor and 4 parts of air traffic control constitute, wherein
Monitoring is automatic dependent surveillance, and it is determined the four-dimensional position data of aircraft by the navigation on aircraft and alignment system, by air-ground
Communication data chain is automatically sent to terrestrial air traffic control center, carries out air traffic control and traffic management.Therefore, introduce new
After navigation system, the means of various monitoring aircrafts, such as radar, ADS-B etc. have been occurred as soon as, if can be from different monitoring
Source, not in the same time, the monitoring data fusion of different coordinates get up, can be achieved with Multi folds coverage, expand monitoring and the model for controlling
Enclose, improve target location accuracy, increase reliability forecasting, so as to ensure high efficiency that the security of flight, area of space are utilized.
Data fusion technique is in brief：Integrated treatment is carried out from multiple sensors or multi-source information, so as to obtain more
For accurate, reliable conclusion.Tightened up definition is：Using the observation of some sensors of the computer technology to chronologically obtaining
Information is automatically analyzed under certain criterion, comprehensive, the information processing carried out with the decision-making and the estimation task that complete to need
Process.
The shortcoming that prior art is present is as follows：
1st, many monitoring source data processing system Yin Jiege road monitoring source signal qualities are directly connected to fusion signal
Quality, existing ATC system draw connect monitoring source signal Analysis of Quality Control in terms of have some limitations.
2nd, to radar data processing module, parameter is mainly each radar signal Format Type and speed, radar antenna position
Geographical coordinate and magnetic bias angle, antenna rotation rate, the track initiation value of flight path quality management, flight path stop value, correlation distance, correlation
Highly, the multi-radar data fusion threshold parameter value such as relevant speed, related course, during many radar fusions, all radars participate in fusion
Static weighted value and Dynamic weighting values etc..Existing system is matched somebody with somebody to radar parameter using the method for cure parameter in program
Put, it is impossible to which Radar Data Fusion thresholding, all radars are participated in by the parameters such as the static weighted value and Dynamic weighting values of fusion and repaiied
Change, any variation of these parameters is required for the technical support of programmer, lacks flexibility, poor operability.
3rd, in radar data tracking processing procedure, data receiver, decoding, process are high to requirement of real-time, at radar
In reason system, using single thread programming technique, radar data receives and tracks processing cycle and carries out, and easily causes loss of data existing
As can radar terminal receive radar data in real time and accurately and be particularly important.
The content of the invention
In order to overcome the shortcoming of prior art, the invention provides a kind of many monitoring source airbound target Parallel Tracking process sides
Method, by analysis is monitored to radar signal quality, monitoring accesses the quality of data of radar；Multithreading reality is adopted simultaneously
The real-time reception of existing radar data is processed, and further ensures that high security, high reliability and the high availability of data handling system,
The airbound target processed from different monitoring sources different types of data can quickly and accurately be tracked.
The technical solution adopted in the present invention is：A kind of many monitoring source airbound target Parallel Tracking processing methods, including such as
Lower step：
Step one, many monitoring source datas are received；
Step 2, many monitoring source data parsings：The initial data received to step one carries out type of message information differentiation,
Then call data parser to parse data, and all kinds of message datas for parsing are carried out into normalization process, then
Store in internal data table；
Step 3, radar data process：
(1) real-time quality control；
(2) radar data pretreatment；
(3) radar data is processed：Process including single radar tracking and many radar fusions are processed；
Step 4, ADS-B data processings：List ADS-B flight paths and ADS-B fusion flight paths are generated, and flight path is stored in into ADS-B
In flight path table；
Step 5, many monitoring source data fusions：
(1) system track association；
(2) system Track In Track；
(3) ADS-B flight paths are merged with radar track.
Compared with prior art, the positive effect of the present invention is：
1st, in radar data processing procedure, using Multi-thread control structure, using the mode for concurrently combining with serial
To realize the process of the different types of data of each radar, the quantity of radar data processing threads is efficiently controlled, has been subtracted
To internal memory and the demand of CPU during light system operation, while also meeting the requirement that radar data processes real-time.
2nd, it is invention introduces being used for radar signal quality monitoring, by the frame loss condition of monitor in real time radar data, convenient
Check point mark (flight path) data of each road radar signal.By arranging System Fault Tolerance parameter, system can automatic selecting signal quality
Meeting the radar for requiring carries out follow-up fusion treatment.
3rd, the present invention is configured to radar parameter using visualization interface.Radar parameter value and data fusion threshold parameter
All radars during radar fusion are participated in the parameters such as the static weighted value and Dynamic weighting values of fusion, using visualization interface by value more
Configuration, system user of service can just change corresponding parameter value according to configuration needs on using seat, and configuration is succinct, spirit
Living, convenience, it is workable.
4th, the monitoring source of the monitoring information that the present invention is provided is by multiple monitoring source structures such as primary radar, secondary radar, ADS-B
Into this is a typical multisensor function synthetic schemes.ADS-B data and many radars are used in combination can realize it is multiple
Cover, expand monitoring and the scope for controlling, improve target location accuracy, increase reliability forecasting, so as to ensure the safety of flight
The high efficiency that property and area of space are utilized.
5th, the data fusion of many radars and ADS-B adopts distributed fusion structure, and this structure tracing property is good, and to logical
Letter bandwidth requirement is low, and calculating speed is fast, good reliability.
Description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is many monitoring source airbound target Parallel Tracking process charts of the present invention；
Fig. 2 is the flow chart that many monitoring source datas of the present invention are received；
Fig. 3 is the schematic diagram of the earth's core fixed coordinate system；
Fig. 4 is the flow chart that single radar data of the present invention is processed；
Fig. 5 is the flow chart of many radar fusion data processings of the present invention；
Fig. 6 is radar track association flow chart；
Fig. 7 is many radars and the distributed Fusion Model schematic diagram of ADS-B flight paths；
Specific embodiment
The present invention design many monitoring source airbound target Parallel Tracking processing systems include data receiver, data prediction,
Radar data process, ADS-B data processings and fused data process five parts, and its flow process is as shown in Figure 1.
In many monitoring source airbound target Parallel Trackings are processed, first have to each radar head data and ADS-B data acquisitions
Get off, and store in database.Then need these data verified, classified and rejected with partial error data.In list
These Targets Dots are tracked process using radar processor by the Targets Dots that radar was obtained in the single pass cycle, raw
Into single radar track data, and provide the state estimation of target.Meanwhile, radar is generated by multi-radar data processing and is locally navigated
Mark.According to same handling process, ADS-B point marks are processed, generate list ADS-B flight paths and the local flight paths of ADS-B.Radar is local
Flight path and the local flight paths of ADS-B send into fusion treatment module carries out system track association and fusion, finally realizes to flying on a large scale
The tracing and monitoring of row target.
Specific implementation step is as follows：
Step one, many monitoring source datas receive (reception to initial data)
The physical layer interface of initial data receiver module is network interface, and by the interface of kit offer, receives original
Then the initial data for receiving is submitted to pretreatment module by beginning data, initial data is solved according to different agreements
Analysis, CRC check, calculating, process are deposited into database after being disposed.
The upper strata of data receiver is database, is oracle database herein, and the raw information of equipment, configuration information etc. are all
Configured by visualization interface, be stored in database, data reception module is read to match somebody with somebody to postpone from database and starts number
According to classification work, data receiver is then carried out.
Many in view of the monitoring source of airbound target, in order to ensure the real-time of software data processing, software can use multi-thread
Journey technology, it is ensured that data quickly can be received, prevents buffering area from piling with spilling, losing data, reaches the requirement of real-time processing.It is soft
After part starts, loading agreement will be arranged according to the radar parameter in database, and initialize service, including receiving port with
Protocol type etc..Thread is opened, is responsible for monitoring specified port.
As shown in Fig. 2 the flow process that monitoring source data is received more is as follows：
1. database connection is set up, data source information is read from data source parameter allocation list, if reading data in day
Exceptional value is given in will record, and is quit a program.
2. IP address according to data source, port, data type, data subtypes create corresponding data sink, often
Individual data sink is a thread.
3. start thread, receive the initial data of corresponding port.
4. receiver thread is stored in the initial data for receiving in raw data base, waits subsequent treatment.
Step 2, many monitoring source data parsings
Initial data is carried out type of message information differentiation by data parsing, calls ADS-B data parsers or SSR data
Resolver is parsed to data, and all kinds of message datas for parsing are converted into normalized monitoring data form, storage
To in internal data table.
Data resolution module realizes that using multithreading resolving is divided into three steps：At digital independent, data
Reason, data are preserved.
1. log-on data reads thread, and initial data is read from raw data base.
2. start the process thread of respective type according to the data type of initial data, initial data normalization is processed.
Normalization is processed and can be divided into data prediction, grader, data parser and format converter.
Grader is differentiated according to the type of message information for receiving, and calls corresponding resolver to carry out data
Parsing.In data decoding procedure, employ version and process strategy：When message is received, looked into according to the SAC and SIC in message
Looking for corresponding SAC in version cache table | SIC whether there is colophon, and the version analytic message is used if having；If without version or
There is version but parse unsuccessful, it tries other versions from high to low are parsed, and be recorded if having a successfully resolved
SAC | be used for parsing in the corresponding cachings of SIC next time, parsing mistake is returned if parsing is all unsuccessful.Using some version
When originally carrying out data decoding, following steps are completed：
Message is verified first：Checking message length whether at least 3 bytes；Whether type of message (message first character section)
Match with resolver；Whether message length is consistent with the numerical value of message length field etc..Next step is carried out if being verified, it is no
Then stop parsing and returning parsing mistake；
Parsing SAC, SIC information, according to message SAC | the value of SIC searches the version number used during its last time successfully resolved；
Attempt parsing：If finding version during last time successfully resolved, according to the version analytic message, if not finding according to
Secondary trial is parsed with each version, if there is a version successfully resolved, records the SAC | and the version of the message at SIC stations is used
In parsing next time；If all unsuccessful, parsing mistake is returned.
The message of successfully resolved its each data item is stored in resolver built-in variable, for the number not provided in message
Use as default according to item, SQL statement during successfully resolved, can be generated as needed, for updating in database.
Data prediction be in data identification and normalisation process, carry out dealing of abnormal data and data quality monitoring and
Statistics.When the oblique distance difference for enrolling the continuous multiple spot of data is zero, just it is regarded as tracking and loses；When certain point of admission data
Or certain several point is when being significantly greater than normal difference with data difference in front and back, hop is regarded as.The statistics of exceptional value is in a program
Addition counter, the number of recording exceptional data, when the ratio of abnormal data and total data is more than the fault-tolerant value of system, data
It is invalid to be considered as.The fault-tolerant value of system can be configured in the software of radar signal Analysis of Quality Control record.Initial data
Pretreatment loses data for big section, directly rejects.For the corresponding algorithm of hop data application is calculated, and recovered.
According to the data type read from database, when there is message to receive, main thread opens by-pass journey for data processing
Initial data is classified and Data Format Transform, main thread continues to monitor.By-pass journey is received after initial data from main thread,
Data are verified according to agreement and Preliminary Analysis, obtained the data type of initial data, including monitoring data, aftn messages
Data (flight plan, navigational intelligence, meteorologic information), flight traffic monitoring, airspace operation, blank pipe infrastructure.By-pass journey will
After data processing is finished, according to agreement, database is stored in, by-pass journey life terminates after confirmation.There is mistake in period, into fault-tolerant
Processing module.Software receives the termination order that user sends, and after the data that are disposed, terminates main thread.
3. log-on data storage thread, by the corresponding data prediction table of data storage after parsing, in case subsequently making
With.
Step 3, radar data process
Many in view of the monitoring source of airbound target, in order to ensure the real-time of software data processing, software is designed with
One two-dimentional Multi-thread control structure, thus can relatively easily extend system and can quickly process many radar websites.
As the speed of radar data process depends on the reading of radar data, the biography in prior police radar data is needed
It is defeated whether to have completed, reach once in the every 4s of radar data, it is therefore necessary within 4s, i.e., reach in next radar data
Before the radar data of all websites is processed and is completed.The data processing of each radar station is realized that by thread program passes through
Multi-thread control structure is controlling the process of each radar different types of data.Due to the line of the different types of data of each radar
Journey is with itself existing mode serial data reading, it is to avoid between radar and the different types of data of radar between data access
Conflict, while without the access using other mechanism control data.
The present invention devises a Multi-thread control structure, and this control structure can be regarded as the two dimension of a m rows n row
Array, wherein row is defined needs M kinds radar data type to be processed, row define the N number of radar website for needing monitoring.Here
This two bit array is represented with Control [M] [N], Control [i] [j] then illustrates whether can start j-th radar station
I-th data type processing procedure of point.Control [i] [j]=true, then can currently start the data class of radar website j
The process of type i.If Control [i] [j]=false, show to be disposed i-th data type of radar website
Or it is etc. pending.Each radar website, different pieces of information class can be easily achieved and be processed by Multi-thread control structure
The radar data of type.Shown according to actual ruuning situation, be not the different pieces of information for simultaneously and concurrently processing all radar websites
Type, but using it is above-mentioned it is concurrent combined with serial by the way of, efficiently controlled the number of radar data processing threads
Amount, to internal memory and the demand of CPU when alleviating system operation, while nor affecting on the real-time of radar data process.
1. log-on data reads thread, and normalized radar data is read from data prediction table.
2., according to radar website and the data type of normalization radar, start corresponding thread and complete the place to radar data
Reason.
Radar data process completes the field to all kinds of radar normalized number evidences and parses, and generates single radar track and many radars
Flight path.This resume module can be divided into real-time quality control, radar data pretreatment, radar data process.
As shown in figure 4, radar data handling process is as follows：
1) overload is processed, station state judges
Monitor in real time is carried out to radar station data source, station data quality is evaluated and is made correct response in time；To radar
The flow of source data is monitored, and produces acceptable spilling, and do corresponding alarming processing during overload；Prison to dual input
Quality gating is carried out depending on source signal.
Radar data processes real-time quality control includes that the monitoring of radar station data source real-time quality, overload are processed and radar number
According to passage than selecting：
A) radar station data source real-time quality monitoring.By processing radar earth station state report, station state value is obtained,
Station data quality is evaluated, and the status information of website is stored in database.
B) radar data overload is processed.Monitoring data processing software receives a flight path/mark data of multiple stage earth station simultaneously,
Singly station flight path processing and multi-site Data Fusion ability are, according to each website and radar data budget flow, to be by using for which
The 50% of system maximum processing capability can just complete process task design.To prevent radar station data from overloading, can be real-time
The total amount of certain all kinds of message in monitoring source that statistics is obtained, real-time assessment its whether exceed and allow flow.Once it is suitable more than setting
Answering property thresholding, software will be cut off the station data immediately and be exported using part to data processing module and data, until detecting
Till the data stream recovery of the website is normal.
C) radar data passage is than choosing.Radar data passage is that the monitoring source signal to dual input carries out quality choosing than choosing
It is logical, by setting time unit, the quality quantizating index of each road radar signal of real-time dynamic monitoring, signal quality is less than the finger for arranging
Alarm is produced during mark threshold value.
2) radar data pretreatment
Radar data pretreatment includes data validity inspection, Coordinate Conversion and space-time alignment etc..
A) validity check
Data validity inspection includes altitude information inspection and speed data inspection.In height velocity checks, can basis
QNH values carry out pressure altitude amendment, can carry out QNH data renewals, QNH subregions by automatically processing weather information and being manually entered
Process, height layer and height conversion are processed.
B) Coordinate Conversion
Coordinate Conversion is that the position that will provide in message, height, the data such as speed are transformed under unified ECEF coordinate systems.
Coordinate Conversion includes the Coordinate Conversion of positional information and velocity information.ECEF coordinate system (ECEF) represents that earth meridian circle cuts
Face figure, as shown in Figure 3：C is the earth's core, and N is the arctic, and S is the South Pole, and EF is equator, and HK is the ground level of observation station O, the vertical HK of OP.
The parallel SN of OM, it is φ with the angle of OH, and the geographic latitude of φ i.e. O points, angle OPF are equal to φ.
C) space-time calibration
Different scan periods and synchronised clock are had by oneself as local radar is each, in addition to a unified coordinate space,
A unified time reference is also needed to, the kinematics parameters in all track datas are all moved to one on a timeline
Periodically on time point, this is necessary to track association and fusion treatment.After space-time alignment, the data of many radars are all
Unification is in the same coordinate system, and data are alignd in time.
1. data space technique of alignment
So-called data space alignment is exactly to select a frame of reference, all same to this from different radar datas
Under coordinate system, inter-process of the present invention, same employing ECEF coordinate systems.
2. time alignment technique
So-called time alignment is exactly, in same timeslice, the target observation data that each sensor is gathered to be carried out interior
Insert, extrapolate, High Accuracy Observation temporal data are calculated on the observation time point of low precision.The system adopts simple line
Property recursion mode carries out interpolation or the extrapolation of data, so as to carry out time alignment.
3) radar data is processed
Radar data process includes that single radar data tracking is processed and multi-radar data fusion is processed.Radar data processor
Multiple stage difference GPR Detection Data can be received, using distributed multi-sensor information fusion system structural model, to each but thunder
Up to doing after Track In Track process, track association and fusion are carried out, formation and maintenance system flight path, multi-radar data fusion process skill
Art can improve target and check probability, expand radar area coverage, increase system reliability, improve accuracy of target measurement and accelerate system
The effect that system Target track displaying refreshes.
A) single radar tracking is processed
1. target following
Point mark will be tracked into flight path by Track In Track rule by radar data of the system to Jing coordinate transforms.Its process
Including：Tracking initiation, tracking are maintained, tracking terminates.
Single radar track tracking specific algorithm is as follows：
● track initiation
After the completion of radar system is scanned for the first time, many marks are generated.After radar system carries out the second scanning, root
According to the expected range of first stage point mark associated gate, correlation is carried out to the point mark of present scan, after related success, produce starting boat
Mark.
● confirm new flight path
In the scanning process after system, the secondary code, height and distance according to scanning element mark judge whether with
There is flight path related, if without related flight path, producing new flight path.If there is related flight path, according to a mark information updating boat
Mark state.
● flight path is maintained and state estimation
During radar scanning afterwards, using the correlation rule of previous step, confirm that flight path is maintained, and carry out flight path filter
Ripple (Kalman filter technology), produces stable single radar track, meanwhile, the position to occurring next time is estimated.
Kalman filter is a kind of linear filtering, and amendment is then needed in the case of motor-driven in target；The purpose of flight path state filtering
Be to be reduced as far as the error for causing being disturbed due to various, obtain the minimum flight path of error.
● course extrapolation
When a certain flight path loses reference point mark data, its state is switched to into flight path of extrapolating, in the extrapolation model that system is arranged
In enclosing, such as there is new reference point mark, flight path state reverts to normal flight path.
● flight path terminates
Reference point mark is not found when the exercise n times scan period, terminates the flight path, the value of N is default system here
Parameter (in the present embodiment, the value of N is 5).
2. ripple door
Ripple door comes from oneself using the point mark to judge in certain scan period and sets up flight path, still falls within one newly
The starting of flight path.Ripple door is exactly an area of space centered on the predicted value of certain radar scanning, and it is to determine a sight
Survey is related to known flight path or new target preliminary identification, and the observation fallen in associated gate just carries out the flight path of next step
Observation pairing.If only one of which observation be located at flight path ripple door within and the observation be not at other flight path ripple doors it
Interior, then the observation is related to flight path, then updates flight path with the observation.If multiple observations are within flight path ripple door,
Or an observation is located within multiple ripple doors, it is necessary to which further interrelated logic is processed.When observation be unsatisfactory for it is any
During the ripple door condition of known flight path, it is used to initialize a new flight path.
B) many radar fusions are processed
Multi-radar data fusion technology carries out format conversion, coordinate transform, data phase to different platform multi-section radar data
The space-time calibration of pass, and fusion is realized on this basis.Radar detection precision, Track In Track matter according to the local flight path of each radar
The factors such as amount, carry out the calculating of weighting parameters needed for Track Fusion, to realize renewal and maintenance to system flight path.
Multi-radar data fusion handling process is as shown in figure 5, concrete facture side is as follows：
1. track association
Track association function, using weighted statistical Distance test method, by the multiple stage radar of the same target of correspondence of input
Single radar track is associated with an already present system flight path or newly-generated system flight path.The association of many radar tracks be with
Based on the flight path number of flight path identifier/address or catchword and local system flight path, dual-purpose horizontal range, secondary code, height, speed
The state indices such as degree and course carry out real-time statistics judgement.Radar track association process method is shown in Fig. 6.
First determine whether whether flight path number associates, if flight path number is uncorrelated, task is not same flight path, after directly carrying out
Continuous relevant treatment.If flight path number is related, horizontal range, secondary code (SSR codes), height, speed and course are examined
Test, if these values all pass through inspection (if distance is in the range of the range deviation that system is arranged), track association can be confirmed.It is no
Then, into correlated judgment, the correlated judgment processing mode of the present invention is first to judge course, speed and distance, if not in system
In default deviation range, then confirm uncorrelated.If course, speed and distance all pass through inspection, secondary code, height are judged
Degree, if one of them can confirm correlation by inspection.
2. radar system flight path is set up
The method for building up of system flight path is similar to single radar track.In single thunder of a current main radar of related Bo Mennei
Up to flight path can not with any system track association for having existed when, start newly-built system track initiation.When the starter system is navigated
When mark recurs association, the system flight path is changed into into confirmation system flight path.When system flight path continuous several times, (number of times is system
Parameter) when can not be associated with any single radar track, terminate the system flight path.Before termination system flight path, can be to flight path
Extrapolated (extrapolation number of times is 5 times).
3. data fusion
The present invention carries out Track Fusion using the dynamic weighting method of average, to reduce random site error.Be weighted because
When son is calculated, two parts of the static factor and dynamic factor are divided into, the static part of weighted factor depends on radar detection
Precision, the aimed at precision of the radar detection of high precision are higher, and weighted factor is bigger.Dynamic part and single radar track tracking matter
Amount is relevant, and the higher weighted factor of quality is bigger.Due to weighted factor factor both in view of projection accuracy, it is also contemplated that target
The precision factor of characteristic value, therefore can soon overcome the phenomenons such as target location bounce, characteristic parameter mutation, while can be to random
The position potential difference that the time difference causes carries out a certain degree of suppression.
Dynamic weighting algorithm can be represented with equation below：
In formula, Si be i-th participation fusion single radar track characteristic value, aI is quietFor the static state of i-th single radar track
Weighted factor, aI is movedFor the dynamic weighting factor of i-th single radar track, S is the characteristic value of the integrated track after fusion, and N is same
When detect radar number.
3. log-on data storage thread, by process after single radar track data and many radar track data Cun Chudao flight paths
In tables of data.
Step 4, ADS-B data processings
The flow process of ADS-B data processings is similar with radar data process, can refer to radar data handling process.Radar data
Process the process mainly completed to CAT001 messages.And ADS-B completes the field to CAT021 messages and parses, ADS-B is final
List ADS-B flight paths and ADS-B fusion flight paths are generated, and flight path is stored in ADS-B flight path tables.
Step 5, many monitoring source data fusions
1. distributed system architecture
The fusion of many monitoring source datas using Distributed Track Fusion framework, as shown in Figure 7, it is proposed that by many radar tracks with
ADS-B flight paths are merged, and produce the flight path quality that flight path quality is not less than any one the monitoring data for participating in fusion treatment.
In distributed frame system, initial data is carried out into mark tracking, prediction and a track association first, forms respective
Local flight path, and result is sent to into fusion center, generates accurate system flight path through fusion in fusion center.
As distributed frame effectively have compressed data volume, the communication load that monitoring is come between data fusion center is reduced, and
Center processor also only carries out track data fusion, the burden of fusion center is mitigated significantly.As distributed frame has office
The independently tracked ability in portion, while with good global monitoring and evaluation of properties, and transmission volume and amount of calculation are relatively low, increase
The stability and reliability of system are added.
In distributed processing system(DPS), system relationship will be arranged in system on the basis of local flight path coordinate serialization
Scan period is carried out.As the selected scan period is possible to different from monitoring the source detection moment, when interpolation, extrapolation is carried out, plus
Power statistical distance criterion needs the difference according to the scanning moment with the detection moment to make special consideration.When there is track available,
In order to improve association performance, it is also possible by means the information provided by track.
2. system track association
System track association is similar with radar track correlating method, it be by from radar data process and ADS-B data at
Many radar/ADS-B that local track data that reason module is obtained, the same target of correspondence is associated with already present or new generation are comprehensive
Close in flight path.During local Track In Track, the flight path to being formed gives and maintains a unique flight path number, because
This, the associated therewith local flight path number having had in any system track data for having generated is the weight of follow-up track association
Will foundation.After flight path number association is set up, it is necessary to confirm (horizontal range, SSR codes, height, speed, boat through the inspection of 5 item datas
To), maintain original relation still to cancel its incidence relation to determine.
3. system Track In Track
The Track In Track method of system flight path is similar with the tracking of radar track, implement referring to radar track with
Track.
4.ADS-B flight paths are merged with radar track
In many monitoring source airbound target Parallel Tracking processing systems, system flight path carry out to multiple local flight paths it is related,
The parameter of system flight path is calculated according to certain fusion by the parameter of the local radar track or local ADS-B of associated association
Method merges to be formed.Melted by kinematic parameters such as the position observed to multiple monitoring sources jointly obtained by same target and speed
Close, the reliability of result data not only can be improved, and can further suppress error.
Many monitoring source data fusions use Weighted Average Algorithm as multi-radar data fusion.It gives each participation and melts
One weight coefficient of local radar track or ADS-B flight paths for closing, each local flight path participate in system flight path according to weight coefficient
Renewal is processed.Average weighted weight coefficient represents the quality of data of each local flight path for participating in fusion, the higher weighting of quality
Coefficient is bigger, and the lower weight coefficient of quality is less.
Each sensor obtains t target-like after elapsed time alignment after locally data processing is carried out to surveyed target
State estimate, and covariance matrix.Track Fusion is input into as system by the use of covariance matrix and is carried out.Each radar
Or the filtering covariance matrix difference that ADS-B is given, illustrate the difference of different monitoring source track data precision.Weighted Fusion is calculated
Method is exactly flight path to be merged using covariance matrix.
Claims (7)
- It is 1. a kind of to monitor source airbound target Parallel Tracking processing method more, it is characterised in that：Comprise the steps：Step one, many monitoring source datas are received；Step 2, many monitoring source data parsings：The initial data received to step one carries out type of message information differentiation, then Call data parser to parse data, and all kinds of message datas for parsing are carried out into normalization process, then store To in internal data table；Strategy is processed using version when data parser is parsed to data：When message is received, according to the SAC in message and During SIC searches version cache table, corresponding SAC and SIC whether there is colophon, and the version analytic message is used if having；If nothing should Version or have the version but parse it is unsuccessful, then parsed using other versions from high to low, if there is a successfully resolved Be used to parse next time in then recorded the corresponding cachings of SAC and SIC, parsing mistake is returned if parsing is all unsuccessful；Step 3, radar data process：(1) real-time quality control；(2) radar data pretreatment；(3) radar data is processed：Process including single radar tracking and many radar fusions are processed；Step 4, ADS-B data processings：List ADS-B flight paths and ADS-B fusion flight paths are generated, and flight path is stored in into ADS-B flight paths In table；Step 5, many monitoring source data fusions：(1) system track association；(2) system Track In Track；(3) ADS-B flight paths are merged with radar track.
- 2. one kind according to claim 1 monitors source airbound target Parallel Tracking processing methods, it is characterised in that：Step Many monitoring source datas described in one are received and include following flow process：(1) database connection is set up, and data source information is read from data source parameter allocation list；(2) judge whether data streams read provides exceptional value in log recording：If it is, quitting a program；If it is not, then entering Enter next step；(3) IP address according to data source, port, data type, data subtypes create corresponding data sink, per number It is a thread according to receiver；(4) start thread, receive the initial data of corresponding port；(5) receiver thread is stored in the initial data for receiving in raw data base, waits subsequent treatment.
- 3. one kind according to claim 1 monitors source airbound target Parallel Tracking processing methods, it is characterised in that：In step Carrying out to initial data described in rapid two is first pre-processed to initial data before type of message information differentiates：When admission data connect When the oblique distance difference of continuous multiple spot is zero, it is regarded as tracking and loses；When admission data certain point or certain several point and count in front and back When normal difference is significantly greater than according to difference, be regarded as hop；Abnormal data is counted, when abnormal data and total data When ratio is more than the System Fault Tolerance value for setting, it is invalid that data are considered as.
- 4. one kind according to claim 1 monitors source airbound target Parallel Tracking processing methods, it is characterised in that：Step Real-time quality control described in three includes：A) radar station data source real-time quality monitoring:By radar earth station state report, station state value is obtained, evaluate website The quality of data, and the status information of website is stored in database；B) radar data overload is processed：Carry out real-time statistics to the total amount of all kinds of messages in monitoring source and whether real-time judge exceedes and set Fixed permission flow, if exceeding, cuts off the output of the station data immediately, until just detecting the data stream recovery of the website Till often；C) radar data passage is than choosing：By setting time unit, the quantizating index of each road radar signal quality of real-time dynamic monitoring, Alarm is produced if metrics-thresholds of the signal quality less than setting.
- 5. one kind according to claim 1 monitors source airbound target Parallel Tracking processing methods, it is characterised in that：Step Radar data pretreatment described in three includes：A) data validity inspection：Including altitude information inspection and speed data inspection；B) Coordinate Conversion：The data such as the position provided in message, height, speed are transformed under unified ECEF coordinate systems；C) space-time calibration：Kinematics parameters in all track datas are all moved to the time of a cycle on a timeline Point on.
- 6. one kind according to claim 1 monitors source airbound target Parallel Tracking processing methods, it is characterised in that：Step Single radar tracking described in three is processed and is included：1. track initiation：After the completion of radar system is scanned for the first time, point mark is produced；After radar system carries out the second scanning, according to The expected range of the point mark associated gate that scanning for the first time is produced, carries out correlation to the point mark of present scan, produces after related success Initial flight path；2. confirm new flight path：In scanning process afterwards, the secondary code, height and distance according to scanning element mark judges whether It is related to existing flight path：If uncorrelated, new flight path is produced；If related, according to a mark information updating flight path state；3. flight path is maintained and state estimation：In scanning process afterwards, using the correlation rule of previous step, flight path dimension is confirmed Hold, and carry out track filtering, produce stable single radar track, meanwhile, the position to occurring next time is estimated；4. course extrapolation：When a certain flight path loses reference point mark data, its state is switched to into flight path of extrapolating, arranged in system In the range of extrapolation, such as there is new reference point mark, flight path state reverts to normal flight path；5. flight path terminates：When reference point mark not being found in the default n times scan period, then terminate the flight path.
- 7. one kind according to claim 1 monitors source airbound target Parallel Tracking processing methods, it is characterised in that：Step Many radar fusions described in three are processed and are included：1. track association：First determine whether whether flight path number is related：If uncorrelated, task is not same flight path, is directly carried out Follow-up relevant treatment；If related, horizontal range, secondary code, height, speed and course are tested, if passing through Inspection, then confirm track association；Otherwise, course, speed and distance are first judged whether in the deviation range of systemic presupposition, if It is no, then confirm uncorrelated, if so, then continue inspection secondary code or height, if one of them is by inspection, confirm that flight path is closed Connection；2. radar system flight path is set up：Related Bo Mennei a current main radar single radar track can not with existed Any system track association when, start newly-built system track initiation；When the starter system flight path recurs association, then will The system flight path is changed into confirmation system flight path；When system flight path can not be navigated with any single radar in the read-around ratio of setting When mark is associated, terminate the system flight path；3. data fusion：Track Fusion is carried out using the dynamic weighting method of average：In formula, Si be i-th participation fusion single radar track characteristic value, aI is quietFor the static weighting of i-th single radar track The factor, aI is movedFor the dynamic weighting factor of i-th single radar track, S is the characteristic value of the integrated track after fusion, and N is for while examine Survey the number of radar.
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