CN105894865A - Air traffic early warning and anti-collision system C mode target track fusion realization method - Google Patents
Air traffic early warning and anti-collision system C mode target track fusion realization method Download PDFInfo
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- CN105894865A CN105894865A CN201610456820.0A CN201610456820A CN105894865A CN 105894865 A CN105894865 A CN 105894865A CN 201610456820 A CN201610456820 A CN 201610456820A CN 105894865 A CN105894865 A CN 105894865A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/04—Anti-collision systems
- G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
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Abstract
The invention provides an air traffic early warning and anti-collision system C mode target track fusion realization method. By filtering a false C mode answering signal, multipath false track and false C mode track, the air traffic early warning and anti-collision system C mode target monitoring and tracking reliability is improved, and high-reliability track file data is provided for an anti-collision function of the air traffic early warning and anti-collision system. According to the invention, the false C mode answering signal, multipath false track and false track can be filtered for the monitoring function of the air traffic early warning and anti-collision system, track fusion processing of the air traffic early warning and anti-collision system on a C mode target aircraft is realized, and the reliability of the monitoring and tracking functions of the air traffic early warning and anti-collision system is improved.
Description
Technical field
The invention belongs to communication/identification/surveillance technology field, relate to a kind of air traffic early warning and CAS C
Pattern target Track Fusion implementation method, is applied particularly to the target aircraft possessing C mode answering
It is tracked monitoring.
Background technology
Along with spatial domain environment becomes the busiest and complicated, air traffic early warning is more and more extensive with CAS
Be applied on all kinds of aircraft.When the flight of aircraft near-earth or ambient airspace environment are complex, this chance
Receive the signals such as syn ack signal, the reflection of syn ack signal, diffraction and asynchronous answer signal, different
The signals such as the step reflection of answer signal, diffraction.These signals overlap mutually mutually, make identification become complicated, and
Multiple false C mode target may be generated, these targets in distance, height or orientation closely,
Thus form pseudo-flight path, false track etc., make surveillance and tracking become difficulty.At present, air traffic early warning
With the surveillance and tracking function of CAS to the process of C mode answer signal and the place of C mode track documents
Reason process only carries out the judgement of data validity, the Processing Algorithm imperfection to interference flight path, it is impossible to differentiate
The false track formed due to a variety of causes, causes false-alarm, and the machine surveillance and tracking therefore can be caused to a lot
False C mode target aircraft, performance directly perceived be exactly aloft traffic prewarning with on CAS display
A lot of false C mode target aircrafts may be shown, such pilot be just difficult to differentiate real goal and
To air traffic situation, false target, occurs that false sense is known, it is therefore necessary to propose at this type of complex condition
Precisely identify that C mode target is gone forward side by side the method for line stabilization surveillance and tracking.
Summary of the invention
Present invention solves the technical problem that: provide a kind of air traffic early warning to navigate with CAS C mode target
Mark merges implementation method, by filtering C mode answer signal, multipath puppet flight path and the falseness of falseness
C mode flight path, improves the reliability that air traffic early warning is followed the tracks of with CAS C mode targeted surveillance,
Collision prevention function for air traffic early warning with CAS provides the track documents data of high reliability.
The technical solution used in the present invention: air traffic early warning and CAS C mode targetpath merge real
Existing method, comprises the steps:
1) C mode answer signal data fusion: by target relative distance uniformity test, relative barometric pressure
High consistency test, relative angle uniformity test and power uniformity test are by inconsistent C mode
Answer signal filters；
2) multipath puppet Track Fusion: by ground direct reflection being formed the C mode track documents of response
Judgement filter pseudo-flight path；
3) C mode track documents merges: by track documents data validity, target type, relative altitude
Effectiveness, relative distance exception and relative speed unusual determination, filter abnormal track documents, final
To effective track documents.
Above-mentioned steps 1) in, described C mode answer signal data fusion be by C mode response relatively away from
From uniformity test process, C mode response relative barometric pressure high consistency test process, C mode response phase
Angle uniformity test process and C mode response power uniformity test process are completed.
Wherein, described C mode answer signal data fusion, first merges array indexing IndexT to C response
Set to 0, it is judged that the data validity of each data element of C mode response array, by the array sequence of valid data
Number return to effective number IndexT of C mode reply data, in array except first C mode answer number
Carry out Effective judgement according to other outer C mode reply datas, answer by the C mode of Effective judgement
Answer, according to application memory space, then copies first C mode reply data effectively, will its sequence number current
Pass to the index TempIndex of first effective C mode reply data, and IndexT is put 1.
The present invention can be compared with prior art air traffic early warning and the function for monitoring of monitoring system filters
False C mode answer signal, multipath puppet flight path and false track, it is achieved air traffic early warning is with anti-
The Track Fusion of C mode target aircraft is processed by system of hitting, and improves air traffic early warning and supervises with CAS
Reliability depending on following function.
Accompanying drawing explanation
Fig. 1 is the C mode reply data fusion process schematic diagram of the present invention；
Fig. 2 is the C mode response relative distance uniformity test Principle of Process figure of the present invention；
Fig. 3 is the C mode response relative angle uniformity test Principle of Process figure of the present invention；
Fig. 4 is the C mode response power uniformity test Principle of Process figure of the present invention.
Detailed description of the invention
1-4 describes embodiments of the invention below in conjunction with the accompanying drawings.
Air traffic early warning merges implementation method with CAS C mode targetpath, comprises the steps:
1) C mode answer signal data fusion: by target relative distance uniformity test, relative barometric pressure
High consistency test, relative angle uniformity test and power uniformity test are by inconsistent C mode
Answer signal filters；It is by C mode response relative distance concordance that described C mode reply data merges
Test process, C mode response relative barometric pressure high consistency test process, C mode response relative angle one
Cause property test process and C mode response power uniformity test process complete.
2) multipath puppet Track Fusion: by ground direct reflection being formed the C mode track documents of response
Judgement filter pseudo-flight path；
3) C mode track documents merges: by track documents data validity, target type, relatively high
Degree effectiveness, relative distance exception and relative speed unusual determination, filter abnormal track documents, finally
Obtain effective track documents.
Above-mentioned C mode answer signal data fusion, first merges array indexing IndexT to C response and sets to 0,
Judge the data validity of the C mode each data element of response array, the array sequence number of valid data is returned
Return to effective number IndexT of C mode reply data, in array in addition to first C mode reply data
Other C mode reply datas carry out Effective judgement, to by the C mode answer number of Effective judgement
According to application memory space, then copy first C mode reply data effectively, will current its sequence number transmission
To the index TempIndex of first effective C mode reply data, and IndexT is put 1.
In C mode function for monitoring, increase the fusion treatment process to C mode answer signal, such as C mode
The power of answer signal merges test, the relative distance of C mode answer signal, relative barometric pressure height with relative
Angle fusion judges and C mode track documents fusion treatment, completes air traffic early warning with CAS to C
Pattern target Track Fusion processes, and concrete processing procedure is as described below:
1) the fusion test of C answer signal power
In a tracking cycle, same target may produce response to repeatedly inquiry, and reason has inquiry to walk
The error etc. that covering between entering, answering machine power judge, by the inquiry power of two responses, suppression
Power carries out power test, it is judged that whether twice inquiry scope of corresponding two responses may produce covers.
The fusion power test relevant parameter table of table 1C answer signal
Test result is the condition that possible cover:
The power bracket of one response is completely covered another power bracket, formula (1):
Pa >=Pb&&Sa≤Sb (1)
The power bracket of one response partly overlaps with another power bracket, formula (2):
Sa>Sb&&Sa<Pb (2)
The power bracket of one response is less than another power bracket 10dB, formula (3):
Sa>Sb&&Pa-Pb<10dB (3)
2) fusion of C mode answer signal relative distance, relative barometric pressure height and relative angle judges
The foundation judged is followed successively by: relative distance, relative barometric pressure height, relative angle and power test, C
The condition that pattern answer signal merges is: meet subordinate a simultaneously), b), c), d) four conditions, each bar
Part definition is shown in as follows, and design parameter definition is as shown in table 2.
The fusion of table 2 C mode answer signal judges relevant parameter table
| Response A distance | Ra |
| Response A pressure altitude | Aa |
| Response A angle | Ba |
| Response A timestamp | Ta |
| Response B distance | Rb |
| Response B pressure altitude | Ab |
| Response B angle | Bb |
| Response B timestamp | Tb |
A) abs (Ra-Rb)≤max (1200 joint * abs (Ta-Tb),△Rmin) formula (4)
△Rmin(the minimum range of TCAS decoding discernible two the graded response signals of processing component according to being
Difference)；
B) Aa==Ab formula (5)；
C) abs (Ba-Bb)≤2*10 degree formula (6)
10 degree according to be angle error be ± 10 degree；
D) by power test, i.e. by the fusion power test of above-mentioned C answer signal.
3) fusion treatment of C mode track documents
The response array meeting C mode answer signal fusion treatment condition is calculated its average angle, it is provided that give
Response is merged in array, and the angle after fusion uses average angle, distance then to use nearest distance.
By the judgement of the C mode track documents of reflection, i.e. real goal is sentenced with mirror target height difference
The judgement of two conditions of fixed and real goal speed and mirror target speed difference, it is achieved filter multipath
Pseudo-flight path, completes air traffic early warning with CAS to multipath puppet track data fusion treatment.
Abnormal by track documents data validity, target type, relative altitude effectiveness, relative distance and
Relative speed unusual determination, filters the track documents of falseness, completes air traffic early warning with CAS to C
Pattern target Track Fusion processes.
The C mode Track Fusion Technology that this programme describes mainly is studied: C mode answer signal data fusion,
The processing procedure that multipath false track merges and C mode track documents merges.
1) Fig. 1 describes C mode response fusion process, and C mode reply data fusion process is by C mould
Formula response relative distance uniformity test process, C mode response relative barometric pressure high consistency test process,
C mode response relative angle uniformity test process and C mode response power uniformity test process complete
's.
First, C response is merged array indexing IndexT to set to 0, it is judged that each data of C mode response array
The data validity of element, returns to the effective number of C mode reply data by the array sequence number of valid data
IndexT.Other C mode reply datas in addition to first C mode reply data in array are had
Effect property judges, to by the C mode reply data application memory space of Effective judgement.Then head is copied
Individual C mode reply data effectively, passes to first effective C mode reply data by its sequence number current
Index TempIndex, and IndexT is put 1.
Fig. 2 describes C mode response relative distance uniformity test process.For effective C mode response
Data, then enter C mode response distance uniformity test process, i.e. first determine whether with or without bench margin
ARFlag, if having height target, i.e. ARFlag is 1, then judges the distance of two reply datas
Difference, whether less than the poor maximum compared with 15m of the ultimate range of two responses, is shown in formula (4), and
Return judged result.If being 0 without height target, i.e. ARFlag, then judge two reply datas
Whether range difference is less than 150 feet, and returns judged result；C mode response distance concordance the most at last
The result of test process passes to concordance mark AgreeFlag.Judge whether AgreeFlag is true,
If true to, this C mode reply data is copied the C mode response array after fusion, and by its sequence number
Passing to the C mode response array after merging in the lump, IndexT is from adding 1.
C mode response relative barometric pressure high consistency is tested, it is judged that whether C mode response relative barometric pressure height
Equal and whether be 0 with or without bench margin ARFlag, as by judging, then enter relative angle concordance
Test process, otherwise removes this C mode reply data, and current response array sequence number subtracts 1 certainly, IndexT
From subtracting 1.
Fig. 3 describes C mode response relative angle uniformity test process, to before by C mode response
The C reply data of relative distance uniformity test and the test of C mode response relative barometric pressure high consistency enters
Enter C mode relative angle uniformity test process, i.e. first determine whether that the data of two C mode responses are effective
Property, return judged result, then judge whether the relative angular difference of two C mode responses is less than 2*10 degree,
I.e. whether relative angular difference is less than 2 times of angular surveying difference, sees formula (6), returns judged result.?
The result of C mode relative angle uniformity test is back to concordance mark AgreeFlag at last.Judge one
Cause property mark AgreeFlag, the most then enter the consistent test process of power of C mode response, otherwise move
Except this C mode reply data, current response array sequence number is from subtracting 1, and IndexT is from subtracting 1.
Fig. 4 describes C mode response power uniformity test process.In a tracking cycle, same
Target may produce response to repeatedly inquiry, and reason is the covering between stepping and the mistake of answering machine power judgement
Difference, by carrying out power uniformity test to the inquiry power of two responses, suppression power, it is judged that corresponding
Whether twice inquiry scope of two responses may produce covers.The condition that judgement generation covers:
A. the power bracket of a response is completely covered another power bracket, the A response of the most same target
Inquiry power > the inquiry power of=B response and the suppression power of A response > the suppression power of=B response, see
Formula (1).
B. the power bracket of a response partly overlaps with another power bracket, and the A of the most same target should
Answer suppression power>B response suppression power and A response suppression power<the inquiry power of B response, is shown in
Formula (2).
C. the power bracket of a response is less than another power bracket 10dB, the A response of the most same target
Suppression power>B response suppression power and A response inquiry power-B response inquiry power<10dB,
See formula (3).
The result processed is returned concordance mark AgreeFlag.If AgreeFlag is true, first
Amended array indexing is merged, i.e. first determines whether that whether the C mode response index deleted is more than C
Pattern response maximum number, if not being, whole response merge in array judge reply data effectiveness and
Its index, whether more than the call number deleted, then removes this C mode response, merges counting MergCounter
From adding 1, running total IndexT is from subtracting 1；If AgreeFlag is false, then removing this C mode should
Answer evidence, IndexT, from subtracting 1, then carries out relative power uniformity test to next C mode response.
Then, carry out C mode answer signal fusion treatment, first calculate C mode response and merge array angle
Degree meansigma methods is also assigned to the angle after merging, and is then obtained C mode response wave beam after merging by angle,
Distance after fusion uses nearest distance, finally returns that the C mode reply data after fusion.Finally,
Return and after merging, count MergCounter.
Then carry out C mode answer signal array to arrange.C mode answer signal array initial value is according to phase
Adjust the distance what value was ranked up.First C mode answer signal array is ranked up, again to low confidence C
Pattern answer signal array is ranked up, and the C mode after finally obtaining according to distance from the close-by examples to those far off sequence should
Answer signal array.
2) multipath puppet Track Fusion
Multipath puppet Track Fusion process mainly processes the mirror image boat caused due to the reflection of C mode answer signal
Mark.First initialize mirror image track documents, search all relevant C mode track documents, it is judged that flight path literary composition
The target type of part and track documents state, search next C mode boat to each C mode track documents
Mark file, and require: (1) true altitude is less than or equal to 200 feet with the difference of mirror image flight path height；(2)
True velocity saves less than or equal to 40 with the speed difference of mirror image flight path velocity.If bar can not be met simultaneously
Part (1) and (2), then determine that it is mirror image track documents and stamp mirror flag ImageTrackFlag to it,
Otherwise process residue track documents.
3) C mode track documents merges
First track documents is carried out data validity and target type judges, the C mode target boat that will set up
The distance value of mark file is assigned to relative distance, is assigned to by the velocity amplitude of the C mode targetpath file of foundation
Relative velocity.Judge the height value effectiveness of the C mode nearest response of targetpath file, as effectively, then
The height value of the C mode targetpath file of foundation is assigned to relative altitude, the C mode target that will set up
The vertical speed value of track documents is assigned to Relative vertical speed.Computed range error, velocity error, orientation
Error and vertical speed error, it is judged that height error and vertical speed error whether in accuracy rating, and
Return altitude judgment value PassFlagAltitude, it is judged that whether range error and velocity error be at precision model
In enclosing, as the most then fusion sum M ergIndexT added certainly, and by this C mode object removal flight path
File.Finally return that the track documents after fusion.
Note: vocabulary lexical or textual analysis
The index of array is merged in IndexT:C response
The index of TempIndex:C pattern response array
ARFlag: with or without bench margin
AgreeFlag: concordance mark
MergCounter: enumerator after fusion
ImageTrackFlag: mirror image flight path mark
PassFlagAltitude: highly judgment value
MergIndexT: merge sum
Above-described embodiment, simply presently preferred embodiments of the present invention, be not used for limiting the scope of the present invention,
Therefore all with content described in the claims in the present invention done equivalence change, all should be included in right of the present invention want
Within the scope of asking.
Claims (3)
1. air traffic early warning merges implementation method with CAS C mode targetpath, it is characterised in that
Comprise the steps:
1) C mode answer signal data fusion: by target relative distance uniformity test, relative gas
Pressure high consistency test, relative angle uniformity test and power uniformity test are by inconsistent C mould
Formula answer signal filters；
2) multipath puppet Track Fusion: by ground direct reflection being formed the C mode track documents of response
Judgement filter pseudo-flight path；
3) C mode track documents merges: by track documents data validity, target type, relatively high
Degree effectiveness, relative distance exception and relative speed unusual determination, filter abnormal track documents, finally
Obtain effective track documents.
Air traffic early warning the most according to claim 1 is merged with CAS C mode targetpath
Implementation method, it is characterised in that: above-mentioned steps 1) in, described C mode answer signal data fusion is logical
Cross C mode response relative distance uniformity test process, the test of C mode response relative barometric pressure high consistency
Process, C mode response relative angle uniformity test process and C mode response power uniformity test process
Complete.
Air traffic early warning the most according to claim 2 is merged with CAS C mode targetpath
Implementation method, it is characterised in that: described C mode answer signal data fusion, first merges C response
Array indexing IndexT sets to 0, it is judged that the data validity of each data element of C mode response array, will
The array sequence number of valid data returns to effective number IndexT of C mode reply data, in array except
Other C mode reply datas outside first C mode reply data carry out Effective judgement, to by effectively
Property judge C mode reply data application memory space, then copy first C mode answer number effectively
According to, its sequence number current is passed to the index TempIndex of first effective C mode reply data, and will
IndexT puts 1.
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