CN106415299A - Systems and methods for high reliability surveillance of aircraft - Google Patents
Systems and methods for high reliability surveillance of aircraft Download PDFInfo
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- CN106415299A CN106415299A CN201480078673.7A CN201480078673A CN106415299A CN 106415299 A CN106415299 A CN 106415299A CN 201480078673 A CN201480078673 A CN 201480078673A CN 106415299 A CN106415299 A CN 106415299A
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Classifications
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
- G01S19/15—Aircraft landing systems
-
- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Aviation & Aerospace Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
Systems and Methods for High Reliability Surveillance of Aircraft are provided. In one embodiment, an aircraft surveillance system 100 comprises: an aircraft 110 including at least one on-board GNSSreceiver112 processing a plurality of navigation signals 125 from a plurality of GNSS satellites 120, and further comprising at least one air-ground communication datalink 40, 132, 134, where the GNSS receiver 112 calculates current position reports that each includes a current position of the aircraft 110 as determined by the at least one on-board GNSS receiver 112 from the plurality of navigation signals 125; and wherein using the at least one air-ground communication datalink 140, 132,134 the at least one GNSS receiver 112 transmits the current position reports and raw GNSS measurement information including samples from the plurality of navigation signals 125 are transmitted together to a ground station 115 as a series of message units 310-1 to 310-6.
Description
Background technology
Except preliminary service radar（PSR）With secondary service radar（SSR）Outside system, for traffic monitoring purpose, fly
The report of row device autonomous location becomes more and more important for air traffic services supplier.Automatic dependent surveillance broadcast
（ADS-B）The technology of the very widely used today consciousness of air traffic controller strengthening aircraft activity, especially in PSR and
SSR radar covers in disabled remote areas.
Be designed to the air transport autonomous location reporting system of common aero vehicle sometimes with inexpensive part（Such as low
End GLONASS（GNSS）Chip, satellite communication（SATCOM）Chip and relatively limited CPU）Integrated
Together.By using the position report being generated by such aircraft, via aircraft operation center（AOC）And air traffic
Control（ATC）Aircraft symbol on the monitor scope of end user notifies there is such aircraft to them.However, this
The integrity of a little aircraft and accuracy information may not always can use or provide enough confidence levels to hand over for aerial
Logical supervision or the service of flight-follow purpose.
Read in those skilled in the art and understand description for the reason being described above and for being set forth below
When will become apparent from other reasons for them, exist in this area to the high reliability surveillance for aircraft
Improve the needs of system and method.
Content of the invention
Embodiments of the invention provide the method and system of the high reliability surveillance for aircraft, and by read and
Study description below will be understood that embodiments of the invention.
The system and method providing the high reliability surveillance for aircraft.In one embodiment, a kind of aircraft
Monitoring system includes：Aircraft, it includes at least one that the multiple navigation signals from multiple GNSS satellite are processed
Airborne GNSS receiver, and this aircraft also includes at least one air-ground universal data link, and GNSS receiver is at this
Air-ground universal data link calculates current location report, and each is included by least one airborne GNSS receiver
The current location of the aircraft being determined according to multiple navigation signals；And wherein communicate by using at least one air-ground
Data link, at least one GNSS receiver transmitting current location is reported and is included the former of the sample from multiple navigation signals
Beginning GNSS measurement result information is transmitted into earth station together as a series of message elements.
Brief description
When in view of when the description of preferred embodiment and following figure to consider, embodiments of the invention can be easier
Ground understands, and its more advantage and use become apparent from, in the accompanying drawings：
Fig. 1 is the diagram of the monitoring system of an embodiment of the diagram disclosure；
Fig. 2 is the diagram of the message elements of an embodiment of the diagram disclosure；
Fig. 3 is the communication of current location report and the circulation of original GNSS measurement result information of an embodiment of the diagram disclosure
Diagram；And
Fig. 4 is the flow chart of the method for an embodiment of the diagram disclosure.
Traditionally, the feature of various descriptions is not drawn to scale, but drawn for emphasizing and the present invention
Relevant feature.Reference character represents the similar components throughout accompanying drawing and text.
Specific embodiment
In the following detailed description, accompanying drawing is carried out with reference, described accompanying drawing forms this paper part and described attached
Specific illustrative embodiment that in figure can be carried out wherein by the present invention and be illustrated.Describe these enforcements enough in detail
Example is so that those skilled in the art can implement the present invention, and be appreciated that can be using other embodiments and can be not inclined
Make logic in the case of the scope of the invention, mechanically and electrically change.Therefore, must not be taken in a limiting sense following
Describe in detail.
Embodiment of the disclosure provides and is used for providing the accurate position for aircraft to air traffic surveillance and controlling officer
The system and method for confidence breath, described aircraft is all not to assemble high performance position sensor or receptor autonomous integrity in this way
Monitoring（RAIM）The common aero vehicle of the mobile system enabling.Using embodiment of the disclosure, aircraft uses their own
Low side airborne GNSS sensor be that ground based terminal user continues broadcast location report, but by also launching original GNSS measurement
Result is strengthening this data.The enough computing capabilitys of ground system trustship simultaneously include the knowledge of GNSS satellite Model of locating error,
This GNSS satellite Model of locating error can be used to should by the various advanced methods with regard to original GNSS measurement result
For more preferable location solution and/or estimated position data integrity.As described herein, traditional air transport RAIM work(
Can be transferred and combine for available aerial with from inexpensive on-board components with existing ground system
More preferable air traffic surveillance and the purpose of flight-follow that traffic monitoring is compared with flight-follow.In certain embodiments, ground
Face station can apply the one or more corrections generally being executed by SBAS/GBAS station to provide better position solution.Finally, this public affairs
Open present using the existing embodiment arriving in the air ground communication in case will with by original GNSS measurement result from vehicle launch to
The extra cost that earth station is associated minimizes.
Fig. 1 is the diagram of the vehicle surveillance system 100 of an embodiment of the diagram disclosure.Monitoring system 100 includes
Receive the aircraft 110 of navigation signal 125 from multiple GNSS satellite 120.Aircraft 110 is also collected and reported geographic area with responsible
In domain, at least one earth station 115 of the supervision data of Airlift Flight device communicates.For example, earth station 115 may include airport or area
Domain aircraft operation center or air traffic control center.Aircraft 110 includes processing the navigation signal 125 of GNSS satellite 120
One or more GNSS receiver 112, and calculate the instruction real-time navigation solution of current location of aircraft 110 and this is current
The position report of position is transmitted into earth station 115.
As discussed above, for do not assemble high performance position sensor or receptor autonomous integrity monitoring
（RAIM）The common aero vehicle of the mobile system enabling, the current location data that airborne GNSS receiver 112 is generated is not
There is enough integrity or accuracy so that the controlling officer at earth station 115 trusts air traffic surveillance or flight-follow mesh
's.In order to ground station 115 provides required enhancing integrity and accuracy, using embodiment of the disclosure, aircraft 110 is also
The GNSS original satellite measurement result being received by airborne GNSS receiver 112 is transmitted into earth station 115.GNSS receiver
The GNSS raw measurement results that 112 are sampled may include but be not limited to：The number of the satellite observed by airborne GNSS receiver and
Timestamp that each sampling of the number of satellite and mark and GNSS satellite signal that mark, receptor are used for positioning is associated,
The pseudo-distance of each of observed satellite（Or time shift）, and alternatively for observed by airborne GNSS receiver 112
The carrier phase sampled of each of GNSS satellite.
Also as shown in fig. 1, earth station 115 includes being coupled to one or more processing systems monitoring work station 160
150, each of this one or more supervision work station 160 all have display unit 164, and it provides regarding of position of aircraft
Feel other related datas of the aircraft in instruction, air speed and the spatial domain being monitored with regard to earth station 115.Processing system 150 quilt
Be coupled to any one of SATCOM receptor 136 and terrestrial radio reception device 142 or both.In one embodiment,
Aircraft 110 to launch real-time current location via aerial received by terrestrial radio reception device 142 to terrestrial transmission 140
Update and GNSS original satellite measurement result.In another embodiment, aircraft 110 via SATCOM transmission 132 to logical
Letter satellite 130 is launched real-time current location and is updated and GNSS original satellite measurement result, and they are then via SATCOM receptor
Satellite transmission 134 received by 136 is re-emitted earth station 115.In operation, aircraft 110 can be based on cost, ground
Stand 115 operational capacity or other factorses come to select to arrive in the air terrestrial transmission 140 using or（verses）Using telecommunication satellite
130.For example, when aircraft 110 advances to another from an airway traffic control area, it can be using in the air to ground
Switch between transmission and satellite transmission.
In one embodiment, include 1090MHz or 978MHz ADS-B broadcast to terrestrial transmission 140 in the air.For example, existing
Some ADS-B positions report message subtype code represents HPL or HFOM/VFOM, and some subtypes carry aircraft behaviour
Make status information, when airborne GNSS can RAIM when this aircraft operational states information can be its integrity and accuracy finger
Show.However, when airborne GNSS system 112 because cost limits when not providing RAIM or providing limited RAIM, position data
Will not be associated with quality instruction or be not eligible for for the ADS-B beyond specification.Potentially, new optional subtype can
It is created for GNSS raw measurement results so that low cost aircraft is obtained in that the benefit of ADS-B.
In another embodiment, telecommunication satellite 130 is included as iridium satellite（iridium）Or inmarsat
（Inmarsat）The satellite of the part operation of communication satellite network.Various products ＆ services provide flight via satellite
Data link between device and ground.For example, EMS sky connect provide end-to-end system, its by airborne iridium satellite transceiver LRU,
Antenna, iridium satellite satellite network, ground iridium satellite gateway and end-user application composition.Transceiver has been structured in GPS and has connect
Receive in device and position data is launched and is relayed to sky connection server.Therefore terminal use can monitor and record-setting flight
Device flight path is for asset tracking.In the case of not having or there is limited accuracy and integrity information, those positions
Message to be launched with the form that manufacturer limits, and therefore may be unsatisfactory for the performance requirement that ATC monitors purpose.In this feelings
Under condition, original GNSS measurement result sample can be affixed to location message, and ground will note position correction and RAIM to provide
Alignment quality indicates.For the system implementing ACARS by iridium satellite, original GPS measurement result can be alternatively attached to use
The fixed ADS-C groove of threshold.
In the embodiment illustrated in fig. 1, processing system 150 includes processor 161, memorizer 162 and one or more
GNSS satellite Model of locating error 163, when being executed by processor 161, this error model 163 is implemented GNSS data post processing and is calculated
Method.In one embodiment, the post processing based on ground of GNSS raw measurement results can be completed at treating stations 150.At it
In its embodiment, enough computing capabilitys and/or necessary satellitosis and signal correction information is no matter where had to can use, place
Some or all in the post-processing function of reason system 150 can be by outside the venue（off-site）Service supplier's trustship or be distributed on
Earth station 115 end user computer（Such as monitor work station 160）Among or a combination thereof.
Processing system 150 is configured with the one or more GNSS for ephemeris, almanac information or other necessary data
Receiving ability（Illustrate at 165）Or/and keep with GNSS operation act on behalf of 166（Such as GBAS station, SBAS station etc.
Deng）Corresponding, this GNSS operation agency 166 can be implemented by executing GNSS satellite Model of locating error 163.There is many can
To be applied to be transmitted into the current location of earth station 115 and processing system 150 and original GNSS measurement result by aircraft 110
GNSS data post-processing approach.For example, in one embodiment, GNSS satellite Model of locating error 163 processes such as air
The error of error, satellite ephemeris Watch Error and satellite clock drift etc.In one embodiment, available error model is from permissible
Any available error model being acquired（For example from nearest GBAS airport, SBAS ground installation or other agency（There may be used
Obtain wide area GNSS and prove data））Extract currently most of error components and apply model in the raw pseudo range reported
To obtain tram solution and the Position location accuracy data of aircraft 110 in each of measurement result.Other real
Apply in mode, GNSS satellite Model of locating error 163 can use the original and/or calibrated pseudo-distance number for position solution
According to various combination to correct GNSS satellite signal multipath and/or signal error locking error, each in comparative result, and
Identify and isolate bad satellite-signal and the position of aircraft of therefore mark latent fault report.Interrupt with regard to GNSS satellite,
Can be using authoritative publication in some embodiments（Such as GPS is to the notice of pilot（NOTAM））To identify when known degradation
GNSS satellite be used for producing current location report by aircraft 110.That is, earth station 115 is transmitted into by aircraft 110
Original GNSS measurement result will include the number of satellite observed by airborne GNSS receiver and mark and receptor is used for
The number of satellite of positioning and mark.Processing system 150 can make such GNSS satellite interruption report survey with by original GNSS
Amount result obtain satellite identification information be associated with by current location reporter marker for suspect and pass through drop from known
Level satellite omits the calibrated position that GNSS measurement result carrys out locally calculating aircraft 110.Additionally, this problem will not need
Till the complete cycle until having been received by original GNSS measurement result packet.As discussed below, in original GNSS
Indicate, in the title of the first report packet of measurement result transmission circulation, the GNSS satellite that airborne GNSS receiver 112 is used,
So that will identify that the satellite that degraded is included at the beginning of the cycle immediately.
Actually relatively stable within short time interval to the main contributions of GNSS Position location accuracy error, and include such as but
It is not limited to the phenomenon of ephemeris error, ionosphere delay, tropospheric delay and satellite clock drift.Therefore, it may not be necessary for
Position location accuracy data is updated to each position report receiving from aircraft 110.For example, it is possible to by a series of subsequent bit
Put report and update the original GPS measurement result that equably transmitting is associated with ad-hoc location report.Upon receipt of original GNSS
The complete cycle of measurement result packet and make it monitor that work station 160 can use to terminal use, processing system 150 just will be really
Fixed report, with this ad-hoc location, the quality being associated, after being received in the circulation that original GNSS measurement result is grouped, it is again
Secondary be updated till.
Except only do not need with position report identical speed ground station 115 provide original GPS measurement result it
Outward, using some avionic device universal data links possibly costliness.For this reason, optimize data link using can be
Cagey.For example, satellite data links application program is probably due to cost is paid close attention to and the magnitude to data.Sky is even
Welding system is for example directed to via the short bursty data of iridium satellite（SBD）Each message elements of service transmission（MU）To charge to user.
As illustrated in the example message unit 200 in Fig. 2, it is possible to use by predefined 256 bits of iridium satellite network delivery（32 words
Section）Data segment come to launch current location report（Shown in 210）.The multiposition report characteristics of iridium satellite SBD service can be near
Few 5 positions report bag（Illustrate at 205-1 to 205-5）It is packaged into single MU 200 for higher historic resolution.So
And, only real time position data is beneficial to supervision purpose.Therefore, the MU of at least 4 position reports is equal on size of data
200 position（Illustrate at 220）It is not used.Using embodiment of the disclosure, those spare spaces（205-2 to 205-
5）Can be entirely used for launching original GNSS measurement result data.
With reference next to Fig. 3, can be with bit-oriented method in the phase that current location report is transported to earth station 115
With in MU, original GNSS measurement result is packed.For example, Fig. 3 illustrates 6 continuous MU 310-1 to 310-6, each wraps
Include the current location report heading of rule, it includes MU identification number and current location report.Therefore, whenever receiving new MU,
All report to refresh earth station 115 using updated current location.Then pass through in each of MU 310-1 to 310-6
Other unused portion in the circulation of original GNSS measurement result packet of transmitting original GNSS measurement result is passed on
To earth station 115.The first original GNSS measurement result packet in original GNSS measurement result packet circulation（I.e. in MU 310-1
Illustrate）Including original GNSS measurement result packet header, it includes indicating that packet 310-1 is the pre- of the first packet in circulation
The code first set up or " symbol ".Original GNSS measurement result packet header also includes high accuracy timestamp, GNSS receiver
The number of the GNSS satellite observed by 112 and mark（It is 9 satellites in this example, wherein use " a, b, c, d, e, f, g, h,
I " is illustrating the respective identification of each satellite）, and similarly, the number of the GNSS satellite that GNSS receiver 112 is used and
Mark（It is 5 satellites in this example, wherein to illustrate the respective identification of each satellite with " b, d, f, g, i "）, to derive
Current location report in the regular current location report heading of MU 310-1.By this way, former in MU 310-1
Beginning GNSS measurement result packet header to processing system 115 notify in following MU 310-2 to 310-5 provide original
GNSS measurement result information is associated with the current location report of transmitting in MU 310-1.In follow-up MU 310-2 to 310-5
Each carry in original GNSS measurement result packet header identification GNSS satellite in up to two GNSS
The raw pseudo range measurement result sample of satellite.Once circulation completes, begin to new circulation.As should be appreciated, including
The sum of the MU of packet circulation will depend upon that the number of satellite observed by airborne GNSS receiver 112 changes.With this side
Formula, original GNSS measurement result information is affixed in regular position report, leads to the extra cost not serviced, because not
Extra MU is needed to provide original GNSS measurement result information.
In one embodiment, it was spaced to launch each MU of diagram in Fig. 3 with 12 seconds, so that every 12 seconds earth stations
115 will receive current location updates.For the original GNSS measurement result packet circulation including 6 MU, per minute once
Receive one group of complete original GNSS pseudo-distance measurement result sample for the GNSS satellite observed by this group.Because leading
Cause the phenomenon of GNSS measuring result error relatively stable on the time period more much larger than 1 minute, so processing system 115 can
To generate and the application site correction and current location report that provided by MU 310-1 to 310-6 come with sufficiently high confidence level
Each of announcement determines that accuracy and integrity information monitor purpose for air transport.Additionally, be included in original GNSS surveying
Timestamp in amount result packet and pseudo-range information do not have complete length.That is, because we are from being reported
Baseline position has the rudimental knowledge of the position of aircraft 110, thus baseline packet after packet can use with known when
Between the skew of labelling or distance can significantly reduce required bit, thus lead to accuracy and delay that integrity is processed to the greatest extent
Possible is short.
For example, in one embodiment, the SATCOM communication server（It can be integrated in processing system 150 or other
In earth station 115 equipment）Via satellite 130 from obtaining of being launched（pull）SBD data, the position report after existing process
Accuse decoding aircraft 110 position, and make when receiving by each MU 310-1 to 310-6 provided for flight
The position of the current report of device 110 is immediately available to supervision work station 160.In addition, processing system 150 is directed to measures knot from GNSS
First MU of fruit packet circulation（I.e. 310-1）Start to be grouped loop ends until GNSS measurement result（I.e. for diagram in Fig. 3
The MU 310-5 of example）Till this traffic refresh GNSS raw measurement results buffer.Receiving GNSS measurement result
During the final MU of packet circulation, just complete collecting to complete the with this circulation of the necessary data for processing system 150
The Error Calculation that on one MU 310-1, the position of report is associated and quality determine.Together with GNSS satellite Model of locating error 163
Together with any additional satellite error information that can be provided by contract agency, also calculate the position that the report of each position is reported
Put 3D error, and determine accuracy and integrity levels.Position correction can be applied to the latitude of aircraft 110, longitude
And altitude information, the position report being provided by the last MU of original GNSS measurement result packet circulation, Yi Jihou are be provided
The circulation in face is till new correction is updated.The position reported, calibrated position are together with associated qualitative data
It is sent to contract ATC system interface（Such as monitor work station 160）, to be capable of the supervision of aircraft 110.Although Fig. 2
Description with Fig. 3 focuses primarily upon iridium satellite message elements, but illustrated in term " message elements " and these figures various its
Its embodiment is so constrained, and can be applied to other messaging protocol structures, and wherein packet can be structured and quilt
It is used for passing on position report and original GNSS measurement result in the way of shown in Fig. 3.
Fig. 4 is the flow chart of the method for aircraft monitors of diagram one embodiment of the present of invention.The method at 410 with
Airborne GNSS receiver receives multiple GLONASSs at aircraft（GNSS）Signal starts.The method proceeds
To 420, wherein ground station sends the transmission including position report, and this position is reported and included being determined by airborne GNSS receiver
The current location of aircraft, and the method proceeds to 430, and wherein ground station sends and includes based on multiple GNSS signal
The original GNSS measurement result of sample transmission.As discussed above for Fig. 2 and Fig. 3, can be by being configured to convey
Position report and the message elements of original GNSS measurement result（Such as, but not limited to iridium satellite message elements）Transmission simultaneously
It is implemented in the transmission of the position report at 420 and 430 and original GNSS measurement result.In one embodiment, disappear via each
Interest statement unit, to launch complete current location report, distributes original GNSS measurement in the circulation including multiple message elements simultaneously
The transmission of result.GNSS raw measurement results information may include but be not limited to：The number of the satellite observed by airborne GNSS receiver
Each sampling of the number of satellite and mark and GNSS satellite signal that mesh and mark, receptor are used for positioning be associated when
Between stamp, the pseudo-distance of each in observed satellite（Or time shift）, and alternatively for observed by airborne GNSS receiver
The sampling of each of GNSS satellite carrier phase（phrase）.And, in alternative embodiments, can arrive ground by aerial
Face communications or satellite communication transmission are implementing the transmission of GNSS raw measurement results information and current location report.
The process illustrating at 410,420 and 430 illustrates one be embodied on aircraft machine embodiment of the method.?
In one embodiment, the method can be at 440 in earth station and continue, and wherein receive current location report and GNSS original measurement
Object information.Earth station may then continue to proceed to 450, wherein the position of the aircraft reported from current location is solved
Code and the position of aircraft is supplied to supervision work station.It should be appreciated that the method as shown at 450 and 460 can be same
Shi Fasheng.Earth station also proceeds at 460, wherein one or more GNSS satellite Model of locating error is applied to GNSS
Raw measurement results information is calculated with calculation error and quality determines, wherein Error Calculation and quality determine and current location report
At least first current location report associated.Therefore, the method proceeds to 470, is wherein based on Error Calculation and quality
Determine and to determine calibrated position of aircraft.Together with GNSS satellite Model of locating error and available any additional satellite
Error information together, also calculates the position 3D error reported for the report of each position, and is applied in supervision work
Make the Aircraft position information of display at station.May also display one of accuracy and integrity levels or both.
In an example of embodiment, in operation, assemble inexpensive integrated satellite data links position reporting facility
（It has voice call capability）Aircraft be just advanced through no radar coverage will be via being assigned to civil aviation
Prohibited area is passed through in the 20km fat pipe transfer running.Do not meet the technical standards explanation under normal circumstances（TSO）C129A's
This aircraft of GNSS sensor is not eligible for carrying out this transfer.However, this traffic is signed activation on radar terminal
Based on the demonstration function of terminal, and the controller at AREA CONTROL CRNTRE continues monitoring.Finally, this traffic is because continuous
Spatial domain invade and/or aircraft the position reported integrity degrade and draw with regard to controller monitoring terminal official communication
Ask.Controller takes out the information of this traffic and selects position correction option, its using from such as in the above embodiments appoint
The original GNSS measurement result that aircraft described in one receives.Based at earth station to original GNSS measurement result
Post processing, the calibrated position for aircraft drawn returns to transfer route.Controller is now except regular air traffic
Also more note outside workload monitoring this traffic and initiating satellite voice calling to aircraft.Aircraft pilots can receive
To after this calling via continental embankment or visual flight rules (VFR)（VFR）Checkpoint confirms his position, and resets the machine of aircraft
Carry tracking unit.Indicating a return on the monitoring terminal of controller after the reacquisition of position of aircraft is normal.Complete
Become to avoid the original GNSS measurement result packet circulation of prohibited area on instruction aerocraft real（About 1 minute）Afterwards, then
Accuracy and Perfection Index and position correction can use, thus avoiding the need of investigation and possible interception further to aircraft
Will.
Example embodiment.
Example 1 includes a kind of method for aircraft monitors, and the method includes：By airborne GNSS receiver in aircraft
Place receives multiple GLONASSs（GNSS）Signal；Ground station sends the transmission including current location report, each
Position reports the current location of the aircraft all including being determined by airborne GNSS receiver；Ground station sends and includes based on winged
The transmission of the original GNSS measurement result information of the sample of multiple GNSS signal receiving at row device.
The method that example 2 includes example 1, wherein at earth station, the method also includes：Receive current location report and
GNSS raw measurement results flow of information；The position of the aircraft reported from current location is decoded and by aircraft
Position is supplied to supervision work station；One or more GNSS satellite Model of locating error are applied to GNSS raw measurement results letter
Breath is calculated with calculation error and quality determines, wherein Error Calculation and quality determination is current with least the first of current location report
Position report is associated；And determine to determine calibrated position of aircraft based on Error Calculation and quality.
The method that example 3 includes example 2, also includes：Display on work station is being monitored based on calibrated position of aircraft
Represent the symbol of aircraft.
The method that example 4 includes any one of example 1-3, is wherein reported and former by being configured to conveying current location
Multiple packets in the data link communication stream of both beginning GNSS measurement result informations to be launched current location together and to report and former
Beginning GNSS measurement result information.
The method that example 5 includes example 4, also includes, by satellite communications data link, multiple packets are transmitted into ground
Stand.
The method that example 6 includes any one of example 4-5, is also included by Automatic dependent surveillance broadcast（ADS-B）
Multiple packets are transmitted into earth station by communication link.
The method that example 7 includes any one of example 4-6, wherein the plurality of packet includes a series of message elements,
There first message unit includes the first title, and this first title includes the first current location report, and is wherein somebody's turn to do multiple
The first circulation of the GNSS raw measurement results information that distribution is associated with the first current location report in message elements series.
The method that example 8 includes example 7, wherein this message elements series include iridium satellite message elements.
The method that example 9 includes any one of example 7-9, wherein this first message unit also include the original survey with GNSS
The second title that amount object information is associated, this second title includes the timestamp, airborne being associated with primary importance report
The number of the GNSS satellite that the number of the GNSS satellite observed by GNSS receiver and mark and airborne GNSS receiver are used
Mesh and mark are to derive the first current location report.
The method that example 10 includes example 9, the first circulation of wherein GNSS raw measurement results information is included by airborne
The raw pseudo range of each of GNSS receiver multiple GNSS signal observed by from this airborne GNSS receiver capture is surveyed
Amount result sample.
Example 11 includes a kind of vehicle surveillance system, and this system includes：Aircraft, it includes defending to from multiple GNSS
At least one airborne GLONASS that multiple navigation signals of star are processed（GNSS）Receptor, and also include
At least one air-ground universal data link, at least one GNSS receiver there calculates current location report, in them
Each include the current location of aircraft that determined by least one airborne GNSS receiver according to multiple navigation signals；
And wherein at least one GNSS receiver to launch current location by using at least one air-ground universal data link
The original GNSS measurement result information reporting and including sample from multiple navigation signals is as a series of message elements quilts
It is transmitted into earth station together.
Example 12 includes the system of any one of example 10, and wherein first message unit includes the first title, and this first
Title includes the first current location report, and distribution and the first current location report wherein in this message elements series multiple
The first circulation of associated original GNSS measurement result information.
Example 13 includes a kind of vehicle surveillance system, and this system includes：Place in air traffic surveillance earth station
Reason system；It is coupled to one or more supervision work stations of processing system, wherein at least one monitors that work station includes providing and flies
The display unit visually indicating of row device positional information；And be coupled to processing system and be also communicatively coupled on aircraft machine
GLONASS（GNSS）At least one air-ground communication sink of receptor；Wherein processing system is from winged
GNSS receiver on row device machine receives current location and reports and promote at least one to monitor that work station is based on current location and reports
Accuse and generate visually indicating of Aircraft position information；Wherein GNSS receiver reception also from aircraft machine for the processing system is original
GNSS measurement result information, it is multiple observed by from GNSS receiver that this original GNSS measurement result information includes GNSS receiver
The sample of the raw pseudo range measurement result of navigation signal capture of GNSS satellite transmitting；Wherein processing system will be one or more
GNSS satellite Model of locating error is applied to original GNSS measurement result information to calculate correction data and to be based on correction data
To correct the visually indicating of Aircraft position information at the first supervision work station.
Example 14 includes the system of example 13, wherein to be received as one by least one air-ground communication sink
The current location report of series message unit and original GNSS measurement result information；Wherein first message unit includes the first mark
Topic, this first title includes the first current location report, and wherein in this message elements series multiple, distribution is worked as with first
The first circulation of the associated original GNSS measurement result information of front position report.
Example 15 includes the system of any one of example 14, and wherein first message unit also includes and GNSS original measurement
Object information be associated the second title, this second title include with primary importance report be associated timestamp, airborne GNSS
The number of the GNSS satellite observed by receptor and mark, and the number of GNSS satellite that used of airborne GNSS receiver and
Mark is to derive the first current location report.
Example 16 includes the system of any one of example 14-15, and the first of wherein original GNSS measurement result information follows
Ring include by GNSS receiver from this GNSS receiver observed by the capture of each of multiple GNSS satellite raw pseudo range
From measurement result sample.
Example 17 includes the system of any one of example 13-16, and wherein at least one air-ground communication sink leads to
Cross the GNSS receiver that satellite communications data link communication is coupled on aircraft machine.
Example 18 includes the system of any one of example 13-17, and wherein at least one air-ground communication sink leads to
Cross Automatic dependent surveillance broadcast（ADS-B）Communication link is being communicatively coupled to the GNSS receiver on aircraft machine.
Example 19 includes the system of any one of example 13-18, wherein one or more GNSS satellite position error moulds
Type is directed at least one of atmosphere errors, satellite ephemeris Watch Error and satellite clock drift correction current location report.
Example 20 includes the system of any one of example 13-19, and wherein processing system is passed through by the field leaving earth station
One or more GNSS satellite Model of locating error are applied to original GNSS measurement result by the function of outer service supplier's trustship
Information.
In various alternate embodiments, any one of system described by throughout the disclosure or method can at one or
Multiple airborne avionicses or implement based in the computer system on ground, this computer system includes execution and realized
Journey, model, module, function, manager, software layer and interface and the process of the code of other elements describing with regard to Fig. 1-4
Device, described code is stored on airborne non-momentary data storage device.Therefore, the other embodiments of the disclosure include residing at
Programmed instruction on computer-readable medium, makes when this programmed instruction is implemented by such airborne airborne electronic computer system
Obtain them and can implement the embodiments described herein.As used herein, term " computer-readable medium " refers to have
The Tangible storage storage device of non-momentary physical form.Such non-momentary physical form may include computer storage and sets
Standby, such as, but not limited to card punch, disk or tape, any optical data memory system, flash read only memory（ROM）、
Non-volatile ROM, programming ROM（PROM）, erasable programmable ROM（E-PROM）, random access memory（RAM）Or it is any
The temporary memory storage system permanent, semipermanent or that there is physics tangible form of other forms or equipment.Programmed instruction bag
Include but be not limited to computer executable instructions and the hardware description language being executed by computer system processor（Such as ultrahigh speed
Integrated circuit（VHSIC）Hardware description language（VHDL）.
Although having illustrated and described specific embodiment here, those of ordinary skill in the art will be appreciated that
Arrive, can replace, for shown specific embodiment, any arrangement being calculated to realize identical purpose.It is intended to covering
Any reorganization of the lid present invention or change.Therefore, obviously it is intended to herein make the present invention only be limited by claim and its equivalent
System.
Claims (20)
1. a kind of method for aircraft monitors, the method includes：
Multiple GLONASSs are received in aircraft by airborne GNSS receiver（GNSS）Signal；
Ground station sends the transmission including current location report, and each position is reported and to be included being determined by airborne GNSS receiver
The current location of aircraft；And
Ground station sends the original GNSS measurement result including the sample based on the multiple GNSS signal receiving at aircraft
The transmission of information.
2. method according to claim 1, wherein at earth station, the method also includes：
Receive current location report and GNSS raw measurement results flow of information；
The position of the aircraft reported from current location is decoded and provides supervision work by the position of aircraft
Stand；
One or more GNSS satellite Model of locating error are applied to GNSS raw measurement results information calculate with calculation error
Determine with quality, wherein Error Calculation and quality determine that at least first current location report reported with current location is associated；
And
Determine to determine calibrated position of aircraft based on Error Calculation and quality.
3. method according to claim 2, also includes：
The symbol showing expression aircraft on work station is being monitored based on calibrated position of aircraft.
4. method according to claim 1, wherein passes through to be configured to convey current location report and original GNSS measurement
Current location report and original GNSS measurement are launched in multiple packets in the data link communication stream of both object informations together
Object information.
5. method according to claim 4, also includes, by satellite communications data link, multiple packets are transmitted into ground
Stand.
6. method according to claim 4, is also included by Automatic dependent surveillance broadcast（ADS-B）Communication link will be many
Individual packet is transmitted into earth station.
7. method according to claim 4, wherein the plurality of packet includes a series of message elements, wherein first message list
Unit includes the first title, and this first title includes the first current location report, and wherein in this message elements series multiple
The first circulation of the GNSS raw measurement results information that distribution is associated with the first current location report.
8. method according to claim 7, wherein this message elements series include iridium satellite message elements.
9. method according to claim 7, wherein this first message unit also include and GNSS raw measurement results information
The second associated title, this second title includes timestamp, the airborne GNSS receiver institute being associated with primary importance report
The number of GNSS satellite that the number of GNSS satellite observed and mark and airborne GNSS receiver are used and mark are to lead
Go out the first current location report.
10. method according to claim 9, the first circulation of wherein GNSS raw measurement results information is included by airborne
The raw pseudo range of each of GNSS receiver multiple GNSS signal observed by from this airborne GNSS receiver capture is surveyed
Amount result sample.
A kind of 11. vehicle surveillance systems, this system includes：
Aircraft, at least one airborne whole world that it includes the multiple navigation signals from multiple GNSS satellite are processed is led
Boat satellite system（GNSS）Receptor, and also include at least one air-ground universal data link, at least one GNSS connects
Receive device and there calculate current location report, each of which is included by least one airborne GNSS receiver according to multiple
The current location of the aircraft that navigation signal determines；And
Wherein at least one GNSS receiver to launch current location by using at least one air-ground universal data link
The original GNSS measurement result information reporting and including sample from multiple navigation signals is as a series of message elements quilts
It is transmitted into earth station together.
12. systems according to claim 10, wherein first message unit include the first title, and this first title includes
One current location report, and wherein in this message elements series multiple, distribution is former with what the first current location report was associated
The first circulation of beginning GNSS measurement result information.
A kind of 13. vehicle surveillance systems, this system includes：
Processing system in air traffic surveillance earth station；
It is coupled to one or more supervision work stations of processing system, wherein at least one monitors that work station includes providing aircraft
The display unit visually indicating of positional information；And
It is coupled to processing system and be also communicatively coupled to the GLONASS on aircraft machine（GNSS）Receptor
At least one air-ground communication sink；
Wherein GNSS receiver from aircraft machine for the processing system receives current location and reports and promote at least one supervision
Work station is visually indicated based on current location report generation Aircraft position information；
Wherein GNSS receiver also from aircraft machine for the processing system receives original GNSS measurement result information, this original GNSS
Measurement result information includes the navigation signal capture of multiple GNSS satellite transmittings observed by from GNSS receiver for the GNSS receiver
Raw pseudo range measurement result sample；And
Wherein processing system by one or more GNSS satellite Model of locating error be applied to original GNSS measurement result information with
Calculate correction data and correct the vision monitoring the Aircraft position information at work station first based on this correction data
Instruction.
14. systems according to claim 13, wherein to be received as one by least one air-ground communication sink
The current location report of series message unit and original GNSS measurement result information；
Wherein first message unit includes the first title, and this first title includes the first current location report, and wherein many
The first of the original GNSS measurement result information that in this message elements series individual, distribution is associated with the first current location report follows
Ring.
15. systems according to claim 14, wherein this first message unit also include believing with GNSS raw measurement results
Manner of breathing association the second title, this second title include with primary importance report be associated timestamp, airborne GNSS receiver
The number of GNSS satellite that the number of observed GNSS satellite and mark and airborne GNSS receiver are used and mark with
Derive the first current location report.
16. systems according to claim 14, the first circulation of wherein original GNSS measurement result information is included by GNSS
The raw pseudo range measurement result sample of each of receptor multiple GNSS satellite observed by from this GNSS receiver capture
This.
17. systems according to claim 13, wherein at least one air-ground communication sink passes through satellite communication number
It is coupled to the GNSS receiver on aircraft machine according to link communication.
18. systems according to claim 13, it is automatic that wherein at least one air-ground communication sink passes through broadcast type
Dependent surveillance（ADS-B）Communication link is being communicatively coupled to the GNSS receiver on aircraft machine.
19. systems according to claim 13, wherein one or more GNSS satellite Model of locating error are directed to air by mistake
At least one of difference, satellite ephemeris Watch Error and satellite clock drift correction current location report.
20. systems according to claim 13, wherein processing system are passed through by the service supplier outside the venue leaving earth station
One or more GNSS satellite Model of locating error are applied to original GNSS measurement result information by the function of trustship.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2014/073024 WO2015131384A1 (en) | 2014-03-07 | 2014-03-07 | Systems and methods for high reliability surveillance of aircraft |
Publications (2)
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| CN106415299A true CN106415299A (en) | 2017-02-15 |
| CN106415299B CN106415299B (en) | 2020-12-25 |
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| WO (1) | WO2015131384A1 (en) |
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| CN107947846A (en) * | 2017-09-26 | 2018-04-20 | 江苏星基航讯科技发展有限公司 | Lead to all purpose aircraft mobile system and communication monitoring system of No.1 satellite based on day |
| CN107959645A (en) * | 2017-12-15 | 2018-04-24 | 航天恒星科技有限公司 | The separation method of ADS-B signals |
| CN108734399A (en) * | 2018-05-17 | 2018-11-02 | 沈阳航空航天大学 | A kind of nuclear accident unmanned plane rescue performance estimating method |
| CN109669401A (en) * | 2017-10-13 | 2019-04-23 | 迪尔公司 | The building site data acquisition of unmanned vehicle auxiliary |
| CN110138426A (en) * | 2019-05-13 | 2019-08-16 | 中国人民解放军32039部队 | A kind of panorama wave beam construction method, system, equipment and medium based on satellite communication |
| CN110383873A (en) * | 2017-04-21 | 2019-10-25 | Lg 电子株式会社 | The method and its equipment of the measurement of aerial UE are executed in a wireless communication system |
| CN111243591A (en) * | 2020-02-25 | 2020-06-05 | 上海麦图信息科技有限公司 | Air control voice recognition method introducing external data correction |
| CN111986522A (en) * | 2020-07-29 | 2020-11-24 | 广州市新航科技有限公司 | Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof |
| CN113534205A (en) * | 2021-09-16 | 2021-10-22 | 长沙海格北斗信息技术有限公司 | Satellite navigation signal abnormality determination method, satellite navigation method, and receiver |
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| US10036813B2 (en) * | 2015-11-16 | 2018-07-31 | The Boeing Company | Verification of trustworthiness of position information transmitted from an aircraft via a communications satellite |
| US10529239B2 (en) | 2016-08-15 | 2020-01-07 | Honeywell International Inc. | Air traffic and weather data aggregating and de-conflicting |
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| CN107959645A (en) * | 2017-12-15 | 2018-04-24 | 航天恒星科技有限公司 | The separation method of ADS-B signals |
| CN108734399B (en) * | 2018-05-17 | 2021-08-13 | 沈阳航空航天大学 | Nuclear accident unmanned aerial vehicle rescue performance evaluation method |
| CN108734399A (en) * | 2018-05-17 | 2018-11-02 | 沈阳航空航天大学 | A kind of nuclear accident unmanned plane rescue performance estimating method |
| CN110138426B (en) * | 2019-05-13 | 2020-07-31 | 中国人民解放军32039部队 | Panoramic wave beam construction method, system, equipment and medium based on satellite communication |
| CN110138426A (en) * | 2019-05-13 | 2019-08-16 | 中国人民解放军32039部队 | A kind of panorama wave beam construction method, system, equipment and medium based on satellite communication |
| CN111243591A (en) * | 2020-02-25 | 2020-06-05 | 上海麦图信息科技有限公司 | Air control voice recognition method introducing external data correction |
| CN111243591B (en) * | 2020-02-25 | 2023-03-21 | 上海麦图信息科技有限公司 | Air control voice recognition method introducing external data correction |
| CN111986522A (en) * | 2020-07-29 | 2020-11-24 | 广州市新航科技有限公司 | Airborne equipment positioning method based on ADS-B signal, airborne equipment and storage medium thereof |
| CN113534205A (en) * | 2021-09-16 | 2021-10-22 | 长沙海格北斗信息技术有限公司 | Satellite navigation signal abnormality determination method, satellite navigation method, and receiver |
| CN113534205B (en) * | 2021-09-16 | 2021-12-17 | 长沙海格北斗信息技术有限公司 | Satellite navigation signal abnormality determination method, satellite navigation method, and receiver |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106415299B (en) | 2020-12-25 |
| WO2015131384A1 (en) | 2015-09-11 |
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