CN105894865B - Air traffic early warning merges implementation method with anti-collision system C mode targetpath - Google Patents
Air traffic early warning merges implementation method with anti-collision system C mode targetpath Download PDFInfo
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- CN105894865B CN105894865B CN201610456820.0A CN201610456820A CN105894865B CN 105894865 B CN105894865 B CN 105894865B CN 201610456820 A CN201610456820 A CN 201610456820A CN 105894865 B CN105894865 B CN 105894865B
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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
A kind of air traffic early warning is provided and merges implementation method with anti-collision system C mode targetpath, by the C mode answer signal, multipath puppet flight path and false C mode flight path that filter out falseness, the reliability of air traffic early warning and the tracking of anti-collision system C mode targeted surveillance is improved, the track documents data of high reliability are provided for the collision prevention function of air traffic early warning and anti-collision system.The present invention can filter out C mode answer signal, multipath puppet flight path and the false track of falseness for the function for monitoring of air traffic early warning and monitoring system, realize that air traffic early warning is handled the Track Fusion of C mode target aircraft with anti-collision system, improve air traffic early warning and the reliability of anti-collision system surveillance and tracking function.
Description
Technical field
The invention belongs to communication/identification/surveillance technology field, is related to a kind of air traffic early warning and anti-collision system C mode mesh
Track Fusion implementation method is marked, is applied particularly to trace and monitor the target aircraft for possessing C mode answering.
Background technology
As spatial domain environment becomes increasingly busy with complicated, air traffic early warning is applied more and more widely with anti-collision system
In on all kinds of aircrafts.When the flight of aircraft near-earth or complex ambient airspace environment, this chance receives synchronous response signal, same
Walk the signals such as signal and asynchronous answer signal, the reflection of asynchronous answer signal, diffraction such as reflection, the diffraction of answer signal.These
Signal mutually overlaps mutually, and identification is become complicated, and may generate multiple false C mode target, these targets distance, height or
It is very close in orientation, so as to form pseudo- flight path, false track etc., surveillance and tracking is become difficult.At present, air traffic early warning
Only carried out with the processing procedure of the processing and C mode track documents of the surveillance and tracking function of anti-collision system to C mode answer signal
The judgement of data validity, the Processing Algorithm imperfection to disturbing flight path, it is impossible to differentiate the false boat formed due to various reasons
Mark, causes false-alarm, therefore can cause the machine surveillance and tracking performance directly perceived is exactly in sky to many false C mode target aircrafts
Middle traffic prewarning and the C mode target aircraft that many falsenesses may be shown on anti-collision system display, such pilot are just difficult
To differentiate real goal and false target, there is false sense to air traffic situation and know, it is therefore necessary to propose in such complicated bar
C mode target and the method for stablize surveillance and tracking are precisely identified under part.
The content of the invention
Present invention solves the technical problem that：A kind of air traffic early warning is provided to merge with anti-collision system C mode targetpath
Implementation method, by filtering out the C mode answer signal, multipath puppet flight path and false C mode flight path of falseness, improves aerial hand over
The reliability of logical early warning and the tracking of anti-collision system C mode targeted surveillance, is the collision prevention function of air traffic early warning and anti-collision system
The track documents data of high reliability are provided.
The technical solution adopted by the present invention：Air traffic early warning merges implementation method with anti-collision system C mode targetpath,
Comprise the following steps：
1) C mode answer signal data fusion：By highly consistent to target relative distance uniformity test, relative barometric pressure
Property test, relative angle uniformity test and power uniformity test inconsistent C mode answer signal is filtered out；
2) multipath puppet Track Fusion：Filtered by the judgement for the C mode track documents that response is formed to ground mirror-reflection
Except pseudo- flight path；
3) C mode track documents merge：Pass through track documents data validity, target type, relative altitude validity, phase
Exception of adjusting the distance and relative speed unusual determination, filter out abnormal track documents, finally obtain effective track documents.
Above-mentioned steps 1) in, the C mode answer signal data fusion is surveyed by C mode response relative distance uniformity
Examination process, C mode response relative barometric pressure high consistency test process, C mode response relative angle uniformity test process and C
What pattern response power uniformity test process was completed.
Wherein, the C mode answer signal data fusion, first sets to 0 C responses fusion array indexing IndexT, judges C
The data validity of each data element of pattern response array, C mode reply data is returned to by the array sequence number of valid data
Other C mode reply datas in array in addition to first C mode reply data are carried out validity and sentenced by effective number IndexT
It is disconnected, to the C mode reply data application memory space by Effective judgement, then copy first effectively C mode answer number
According to its current sequence number being passed to the index TempIndex of first effectively C mode reply data, and IndexT is put 1.
The present invention can filter out the C of falseness for the function for monitoring of air traffic early warning and monitoring system compared with prior art
Pattern answer signal, multipath puppet flight path and false track, realize air traffic early warning with anti-collision system to C mode target aircraft
Track Fusion processing, improve the reliability of air traffic early warning and anti-collision system surveillance and tracking function.
Brief description of the drawings
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.
Embodiment
1-4 describes the embodiment of the present invention below in conjunction with the accompanying drawings.
Air traffic early warning merges implementation method with anti-collision system C mode targetpath, comprises the following steps：
1) C mode answer signal data fusion：By highly consistent to target relative distance uniformity test, relative barometric pressure
Property test, relative angle uniformity test and power uniformity test inconsistent C mode answer signal is filtered out；The C moulds
The fusion of formula reply data is highly consistent by C mode response relative distance uniformity test process, C mode response relative barometric pressure
Property test process, C mode response relative angle uniformity test process and C mode response power uniformity test process complete
's.
2) multipath puppet Track Fusion：Filtered by the judgement for the C mode track documents that response is formed to ground mirror-reflection
Except pseudo- flight path；
3) C mode track documents merge：Pass through track documents data validity, target type, relative altitude validity, phase
Exception of adjusting the distance and relative speed unusual determination, filter out abnormal track documents, finally obtain effective track documents.
Above-mentioned C mode answer signal data fusion, first sets to 0 C responses fusion array indexing IndexT, judges C mode
The data validity of each data element of response array is effective back to C mode reply data by the array sequence number of valid data
Other C mode reply datas in array in addition to first C mode reply data are carried out Effective judgement by number IndexT,
To the C mode reply data application memory space by Effective judgement, first effectively C mode reply data is then copied,
Its current sequence number is passed to the index TempIndex of first effectively 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 answer signal
Power fusion test, the relative distance of C mode answer signal, relative barometric pressure height and relative angle fusion judge and C mode boat
Mark file fusion treatment, completes air traffic early warning with anti-collision system to C mode targetpath fusion treatment, concrete processing procedure
As described below：
1) the fusion test of C answer signals power
In a tracking cycle, same target may produce response to multiple inquiry, and reason has between inquiry stepping
Error that covering, response acc power judge etc., by the inquiry power to two responses, suppresses power progress power test, sentences
Whether there may be covering for the scope of inquiry twice of disconnected corresponding two responses.
The fusion power test relevant parameter table of table 1C answer signals
Test result is the possible condition covered：
Another power bracket, formula (1) is completely covered in the power bracket of one response：
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 no more 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 of judgement is followed successively by：Relative distance, relative barometric pressure height, relative angle and power test, C mode response letter
Number fusion condition be：Meet subordinate a at the same time), b), c), d) four conditions, each conditional definition is shown in as follows, and design parameter defines
As shown in table 2.
The fusion of 2 C mode answer signal of table judges relevant parameter table
| Response A distances | Ra |
| Response A pressure altitudes | Aa |
| Response A angles | Ba |
| Response A timestamps | Ta |
| Response B distances | Rb |
| Response B pressure altitudes | Ab |
| Response B angles | Bb |
| Response B timestamps | Tb |
a)abs(Ra-Rb)<=max (1200 section * abs (Ta-Tb),△Rmin) formula (4)
△RminFoundation be the minimum range difference of the identifiable two graded response signals of processing component (TCAS decode)；
B) Aa==Ab formula (5)；
c)abs(Ba-Bb)<=2*10 degree formula (6)
10 degree of foundations are that angle error is ± 10 degree；
D) by power test, that is, the fusion power test of above-mentioned C answer signals is passed through.
3) fusion treatment of C mode track documents
Its average angle is calculated to the response array for meeting C mode answer signal fusion treatment condition, there is provided melt to response
Close in array, the angle after fusion uses average angle, and distance then uses nearest distance.
By the judgement of the C mode track documents of reflection, i.e., real goal and mirror target height difference are judged and true
The judgement of real targeted rate and two conditions of mirror target speed difference, realization filter out multipath puppet flight path, complete aerial hand over
Logical early warning is with anti-collision system to multipath puppet track data fusion treatment.
Pass through track documents data validity, target type, relative altitude validity, relative distance exception and relative speed
Unusual determination, filters out the track documents of falseness, completes air traffic early warning and merges place to C mode targetpath with anti-collision system
Reason.
The C mode Track Fusion Technology of this programme description is mainly studied：C mode answer signal data fusion, multipath are empty
False Track Fusion and the processing procedure of C mode track documents fusion.
1) Fig. 1 describes C mode response fusion process, and C mode reply data fusion process is opposite by C mode response
It is consistent apart from uniformity test process, C mode response relative barometric pressure high consistency test process, C mode response relative angle
Property test process and C mode response power uniformity test process complete.
First, C responses fusion array indexing IndexT is set to 0, judges the data of each data element of C mode response array
Validity, the effective number IndexT of C mode reply data is returned to by the array sequence number of valid data.To in array except first
Other C mode reply datas outside C mode reply data carry out Effective judgement, to the C mode response by Effective judgement
Data application memory space.Then first effectively C mode reply data is copied, its current sequence number is passed into first effective C
The index TempIndex of pattern reply data, and IndexT is put 1.
Fig. 2 describes C mode response relative distance uniformity test process.For effective C mode reply data, then into
Enter C mode response apart from uniformity test process, that is, first determine whether there is bench margin ARFlag, if there is height target,
That is ARFlag is 1, then judges whether the range difference of two reply datas is less than the ultimate range difference of two responses compared with 15m
Compared with maximum, see formula (4), and return to judging result.If without height target, i.e. ARFlag is 0, then judges that two are answered
Whether the range difference of answer evidence is less than 150 feet, and returns to judging result；Most at last C mode response apart from uniformity test mistake
The handling result of journey passes to uniformity mark AgreeFlag.Judge whether AgreeFlag is true, if true, by the C mode
Reply data copies the C mode response array after fusion to, and its sequence number is passed to the C mode answer number after fusion in the lump
Group, IndexT add 1 certainly.
C mode response relative barometric pressure high consistency is tested, and judges whether C mode response relative barometric pressure height is equal and has
Whether no bench margin ARFlag is 0, such as by judging, then into relative angle uniformity test process, otherwise removes this C mould
Formula reply data, for current response array sequence number from subtracting 1, IndexT subtracts 1 certainly.
Fig. 3 describes C mode response relative angle uniformity test process, to passing through C mode response relative distance before
Uniformity test and the C reply datas of C mode response relative barometric pressure high consistency test enter C mode relative angle uniformity
Test process, that is, first determine whether the data validity of two C mode responses, returns to judging result, then judges that two C modes should
Whether the relative angular difference answered is less than 2*10 degree, i.e. whether relative angular difference is less than poor 2 times of angular surveying, sees formula (6), returns
Return judging result.Most the result of C mode relative angle uniformity test is back to uniformity mark AgreeFlag at last.Judge
Uniformity mark AgreeFlag, then enters the consistent test process of power of C mode response if true, and otherwise removing this C mode should
Answer evidence, for current response array sequence number from subtracting 1, IndexT subtracts 1 certainly.
Fig. 4 describes C mode response power uniformity test process.In a tracking cycle, same target may
Response is produced to multiple inquiry, the reason is that the error that covering between stepping and response acc power judge, by two responses
Inquiry power, suppress power progress power uniformity test, judges whether the scope of inquiry twice of corresponding two responses may production
Raw covering.Judge to produce the condition covered：
A. another power bracket, i.e., the inquiry of the A responses of same target is completely covered in the power bracket of a response
Power>The inquiry power of=B responses and the suppression power of A responses>The suppression power of=B responses, is shown in formula (1).
B. the power bracket of a response partly overlaps with another power bracket, i.e., the suppression of the A responses of same target
Power processed>B responses suppress power and the suppression power of A responses<The inquiry power of B responses, is shown in formula (2).
C. the power bracket of a response is no more than another power bracket 10dB, i.e., the suppression of the A responses of same target
Power>B responses suppress power and the inquiry power of the inquiry power-B responses of A responses<10dB, is shown in formula (3).
The result of processing is returned into uniformity mark AgreeFlag.If AgreeFlag is true, first to modification after
Array indexing merged, that is, first determine whether delete C mode response index whether be more than C mode response maximum number, if not
It is then to judge whether the validity of reply data and its index are more than the call number deleted in array is merged in whole response, then
This C mode response is removed, fusion counts MergCounter from adding 1, and running total IndexT subtracts 1 certainly；If AgreeFlag is
Vacation, then remove this C mode reply data, then IndexT carries out relative power uniformity from subtracting 1 to next C mode response
Test.
Then, C mode answer signal fusion treatment is carried out, i.e., calculates C mode response fusion array angular average first
And the angle after fusion is assigned to, C mode response wave beam after merging then is obtained by angle, the distance after fusion uses nearest
Distance, finally returns that the C mode reply data after fusion.Finally, MergCounter is counted after returning to fusion.
Then C mode answer signal array is carried out to arrange.C mode answer signal array initial value is according to relative distance value
It is ranked up.C mode answer signal array is ranked up first, and low confidence C mode answer signal array is carried out again
Sequence, finally obtains the C mode answer signal array after from the close-by examples to those far off sorting according to distance.
2) multipath puppet Track Fusion
Multipath puppet Track Fusion process is mainly handled due to mirror image flight path caused by the reflection of C mode answer signal.It is first
Mirror image track documents are first initialized, search all related C mode track documents, judge the target type and flight path text of track documents
Each C mode track documents are searched next C mode track documents by part state, and are required：(1) true altitude is navigated with mirror image
The difference of mark height is less than or equal to 200 feet；(2) true velocity and the speed difference of mirror image flight path velocity are less than or equal to 40
Section.If cannot meet condition (1) and (2) at the same time, determine that it is mirror image track documents and stamp mirror flag to it
ImageTrackFlag, otherwise handles remaining track documents.
3) C mode track documents merge
Track documents are carried out with data validity first and target type judges, by the C mode targetpath file of foundation
Distance value be assigned to relative distance, the velocity amplitude of the C mode targetpath file of foundation is assigned to relative velocity.Judge C mode
The height value validity of the nearest response of targetpath file, such as effectively, then by the height value of the C mode targetpath file of foundation
Relative altitude is assigned to, the vertical speed value of the C mode targetpath file of foundation is assigned to Relative vertical speed.Calculate distance by mistake
Whether difference, velocity error, azimuthal error and vertical speed error, decision height error and vertical speed error are in accuracy rating
It is interior, and return altitude judgment value PassFlagAltitude, range error and velocity error are judged whether in accuracy rating, such as
In it then will fusion sum M ergIndexT from plus, and by this C mode object removal track documents.After finally returning that fusion
Track documents.
Note：Vocabulary paraphrase
IndexT：The index of array is merged in C responses
TempIndex：The index of C mode response array
ARFlag：Whether there is bench margin
AgreeFlag:Uniformity mark
MergCounter:Counter after fusion
ImageTrackFlag:Mirror image flight path mark
PassFlagAltitude：Height judgment value
MergIndexT:Fusion sum
Above-described embodiment, simply presently preferred embodiments of the present invention, is not used for limiting the scope of the present invention, therefore all with this
The equivalence changes that content described in invention claim is done, should all be included within scope of the invention as claimed.
Claims (1)
1. air traffic early warning merges implementation method with anti-collision system C mode targetpath, it is characterised in that comprises the following steps：
1) C mode answer signal data fusion：By being surveyed to target relative distance uniformity test, relative barometric pressure high consistency
Examination, relative angle uniformity test and power uniformity test filter out inconsistent C mode answer signal；
2) multipath puppet Track Fusion：Puppet is filtered out by the judgement for the C mode track documents that response is formed to ground mirror-reflection
Flight path；
3) C mode track documents merge：By track documents data validity, target type, relative altitude validity, it is opposite away from
Divorced often and relative speed unusual determination, filter out abnormal track documents, finally obtain effective track documents；
Above-mentioned steps 1) in, the C mode answer signal data fusion is by C mode response relative distance uniformity test mistake
Journey, C mode response relative barometric pressure high consistency test process, C mode response relative angle uniformity test process and C mode
What response power uniformity test process was completed；
The C mode answer signal data fusion, first sets to 0 C responses fusion array indexing IndexT, judges C mode response
The data validity of each data element of array, the effective number of C mode reply data is returned to by the array sequence number of valid data
Other C mode reply datas in array in addition to first C mode reply data are carried out Effective judgement, to logical by IndexT
The C mode reply data application memory space of Effective judgement is crossed, then copies first effectively C mode reply data, ought
Its preceding sequence number passes to the index TempIndex of first effectively C mode reply data, and IndexT is put 1.
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