CN106527483A - Unmanned plane active threat avoiding system based on air traffic control data link - Google Patents
Unmanned plane active threat avoiding system based on air traffic control data link Download PDFInfo
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- CN106527483A CN106527483A CN201611115343.8A CN201611115343A CN106527483A CN 106527483 A CN106527483 A CN 106527483A CN 201611115343 A CN201611115343 A CN 201611115343A CN 106527483 A CN106527483 A CN 106527483A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
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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 discloses an unmanned plane active threat avoiding system based on an air traffic control data link. The unmanned plane active threat avoiding system is applied on an airborne-end of an unmanned plane and comprises a radio frequency transmit-receive module and a situation perception and avoiding processing host, wherein the radio frequency transmit-receive module is configured to receive ADS-B information, of an adjacent plane, sent by a ground terminal and other airplanes, and the situation perception and avoiding processing host obtains angle, distance, height and time stamp of an adjacent plane according to the ADS-B information of the adjacent plane and ADS-B information of the unmanned plane, evaluates the threatening level according to the angle, distance, height and time stamp of the adjacent plane, and sends the angle, distance, height and time stamp of the adjacent plane to the ground end through an unmanned plane data link. The unmanned plane active threat avoiding system provides flying situation sensing and emergency active threat avoiding suggestion of cooperative planes in a nearby spatial domain for a ground station by using limited assembling condition of an unmanned plane, thereby effectively improving comprehensive air situation sensing capability, active safety space retaining capability and active conflict solving capability of an unmanned plane operation area.
Description
Technical field
The invention belongs to technical field of aerospace, is related to a kind of mixing merged for ADS-B technologies and TCAS systems
Monitoring method；.
Background technology
The anti-collision of Aircraft Air is to grasp flight dynamic by ground blank pipe supervision equipment, by air traffic control system
Allotment flight collision.In order to avoid midair crash, someone's aircraft is also equipped with airborne collision avoidance system, ADS-B systems.Wherein, it is airborne
CAS can be independent of terrestrial air traffic control, complete independently anticollision alarm；ADS-B systems can be independent of terrestrial air friendship
Siphunculus system, in autonomous acquisition spatial domain, other are equipped with the flight posture of ADS-B system aircrafts.And unmanned plane does not have relevant art handss
Section, being also completely dependent on isolation airspace operation at present prevents and civil aviaton of army someone machine midair crash.
Progressively deepen as low altitude airspace is opened, the quantity of airborne aircraft will be greatly increased, spatial domain density pressure will
It is difficult to plan the isolation spatial domain of isolated operation again for unmanned plane, unmanned plane is necessarily required to access again and again national airspace system, low latitude
The probability that operation unmanned plane is collided with Flight device is also greatly improved therewith, and potential safety hazard is huge.
The content of the invention
For the deficiencies in the prior art, the goal of the invention of the present invention is to provide a kind of unmanned plane based on blank pipe Data-Link
Active threat avoidance system, provides spatial domain collaboration nearby using the limited installation condition of unmanned plane for unmanned aerial vehicle station control staff
The flight posture of aircraft is perceived and the active threat of Emergency time avoids suggestion, so as to effectively lift unmanned plane operation area synthesis
The perception of empty mood gesture, actively active safety interval holding ability, conflict solution removing solid capacity.
The goal of the invention of the present invention is achieved through the following technical solutions：
A kind of unmanned plane active threat avoidance system based on blank pipe Data-Link, applies at unmanned aerial vehicle onboard end, comprising penetrating
Frequency transceiver module and Situation Awareness process main frame comprising ownship information monitoring with process main frame, the Situation Awareness is evaded with evading
Module, adjacent machine DF17 modular converters, adjacent machine surveillance and tracking module and CAS modules；
The radio-frequency (RF) receiving and transmission module is configured to receive the adjacent machine ADS-B information that ground surface end and other aircrafts send, and passes
It is defeated by adjacent machine DF17 modular converters；
The ownship information monitoring module is configured to obtain the machine ADS-B information by on-board data source, and is transferred to neighbour
Machine DF17 modular converters；
Adjacent machine DF17 modular converters are configured to the angle according to adjacent machine ADS-B information and the machine ADS-B information acquisition neighbour's machine
Degree, distance, height and timestamp；
The adjacent machine surveillance and tracking module is configured the angle according to adjacent machine, distance, height and timestamp and evaluates adjacent machine
Threat level, and the angle of adjacent machine, distance, timestamp and threat level are sent to into CAS modules, and are passed through by CAS modules
Unmanned Aerial Vehicle Data Link is transmitted to ground surface end.
Preferably, the radio-frequency (RF) receiving and transmission module include transmitter module, the ownship information monitoring module be additionally configured to by
The machine ADS-B information is by transmitter module to emission.
Preferably, ownship information monitoring module is also configured to produce the answer signal and ACAS transmitting-receiving master of S mode answering machine
The request signal of machine, the transmitter module include a transmission channel, send answer signal by the method using time-sharing multiplex
And request signal.
Preferably, the radio-frequency (RF) receiving and transmission module includes receiver module, and the receiver module includes the upper omnidirectional antenna of connection
Second receiving channel of the first receiving channel and the lower omnidirectional antenna of connection, the first receiving channel and the second receiving channel adopt frequency division
The method of multiplexing receives the response that the request signal of S mode answering machine, the broadcast singal of ACAS transmitting-receiving main frames, ACAS receive and dispatch main frame
Signal.
The present invention breaks through the key technologies such as unmanned plane anticollision, rf integration, antenna multiplexed, information fusion, task synthesis,
Meet unmanned plane installation it is adaptive on the basis of, fusion TCAS actively inquire that monitoring information and ADS-B broadcast types are automatic and related supervises
The functions such as visual information, compatible 1090ES Data-Links, airborne collision avoidance, blank pipe response, provide aerial Situation Awareness for unmanned plane and prevent
Alarm is hit, while having following upgrading ability, using photoelectricity, Autonomous relative location information, watch type is improved, is improved monitoring
For developing, precision, so that ensure that various military unmanned air vehicle is round-the-clock long-range winged across course line aerial anti-collision, formation interval holding etc.
The Situation Awareness of row task is laid the foundation with anticollision alarm equipment.
Meanwhile, the present invention only need to receive the answer signal and extension textual information of intruder using two-way receiving channel,
Range finding, the direction finding of intruder can be completed, the collision detection and anticollision alarm of intruder is realized, is efficiently reduced system
Volume, power consumption, improve the reliability of system, so as to be allowed to meet the combination surveillance anticollision alarm needs of unmanned plane, improve nothing
Man-machine flight safety, with high Social benefit and economic benefit.
Description of the drawings
Fig. 1 is structural representation of the embodiment based on the unmanned plane active threat avoidance system of blank pipe Data-Link；
Fig. 2 is that the unmanned plane active threat based on blank pipe Data-Link avoids schematic diagram；
Fig. 3 is the structural representation of radio-frequency (RF) receiving and transmission module in embodiment；
Fig. 4 is Situation Awareness and the structural representation for evading process main frame in embodiment.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below
Close drawings and Examples and the present invention is expanded on further.
As shown in figure 1, a kind of unmanned plane active threat avoidance system based on blank pipe Data-Link, applies in unmanned aerial vehicle onboard
End, comprising radio-frequency (RF) receiving and transmission module and Situation Awareness with evade process main frame.Situation Awareness processes main frame by airborne number with evading
The navigation information comprising contents such as the machine longitude, latitude, speed, time, height is obtained according to source, is divided into multiple 56 by all kinds
Data of position, and insert the ME fields of DF17 forms, are assembled into and multiple are suitable for the different types of of 1090ES Data-Links transmission
ADS-B message, is launched in the form of broadcasting by omnidirectional antenna at a different rate.
Situation Awareness is inquired to neighbouring spatial domain by upper and lower omnidirectional antenna with process main frame is evaded, when nearby equipped with sky
The aircraft of pipe answering machine (S mode/ATCRBS answering machines) will make respective acknowledgement after receiving inquiry.Situation Awareness with evade
Process main frame and also the ADS-B information that ground surface end and other aircrafts send can be received simultaneously by upper and lower omnidirectional antenna.To what is received
After response message and ADS-B information fusion, the height of acquisition intruder, altitude rate, relative distance, relative distance change
The target informations such as rate, orientation, course, FID, monitoring, tracking target, set up, update and safeguard targetpath.
Situation Awareness processes main frame by monitoring and the targetpath for tracking and ownship information synthesis with evading, and evaluates target
The threat level of machine, and target machine information is delivered to into the airborne end of Unmanned Aerial Vehicle Data Link system, and ground accuser is transmitted to by which
Member.When the threat level of target machine is defined as TA, Situation Awareness may also provide warning information with process main frame is evaded；Work as mesh
When the threat level of mark machine is defined as RA, Situation Awareness processes main frame and may also provide avoidance suggestion with evading, so as to for ground
Charge personnel provide flight decision support.
Situation Awareness is received from ground ATC stations, installs the inquiry message that the aircraft of ACAS sends with process main frame is evaded, solution
Code, processing data simultaneously send response message on request, so as to realize the monitoring to its flight posture.
As shown in figure 3, radio-frequency (RF) receiving and transmission module includes transmitter module and receiver module, the transmitter module is launched comprising one
Passage, the second reception of first receiving channel of the receiver module comprising the upper omnidirectional antenna of connection and the lower omnidirectional antenna of connection are logical
Road.
During transmission signal, Situation Awareness is given baseband signal inside process main frame with the FPGA evaded inside process main frame
Radio frequency transmitting channel carry out DA conversion and upconversion process, while FPGA can be switched fast by local oscillator configuration control signal
The local frequency of radio frequency transmitting channel, to realize that radio frequency transmissions are quickly cut in two Frequency points of 1030MHz and 1090MHz
Change, Situation Awareness can launch the letter of different frequency (1030MHz or 1090MHz) from process main frame is evaded in different time points
Number, that is, realize the time division multiplex of transmission channel；When receiving signal, the radiofrequency signal Jing radio-frequency (RF) switch square that upper and lower two-way antenna is received
Battle array has respectively entered Situation Awareness after distributing and evades the first receiving channel and the second receiving channel inside process main frame, and first
Receiving channel and the second receiving channel function constitute completely the same with circuit, the radio frequency receiving signal difference Jing per road receiving channel
The 1030MHz wave filter and 1090MHz wave filter for crossing two-way independence is filtered generation 1030MHz and 1090MHz two after process
Road radiofrequency signal, the subsequent filtered radiofrequency signal of this two-way carry out the subsequent treatment such as follow-up down coversion, if sampling and incite somebody to action
The two-way intermediate-freuqncy signal that if sampling is produced is sent to FPGA and carries out follow-up base band signal process work, upper and lower two-way radio frequency reception
Passage common property gives birth to 4 road if sampling signals, realizes the frequency division multiplexing of radio frequency reception channel, can receive upper and lower two-way day simultaneously
1030MHz and 1090MHz radiofrequency signals that line is received simultaneously carry out follow-up base band signal process work, realize 1030MHz
Receive while radiofrequency signal and 1090MHz radiofrequency signals and process.By the time division multiplex and receiving channel of transmission channel
Frequency multiplexing technique, processes multiplexing (1 road 1030M/1090M transmission channels, 2 tunnels that main frame realizes L frequency range radio frequency resources
1030M/1090M receiving channels), while meeting radio frequency transmitting channel is switched fast the design requirement with redundancy backup.
As shown in figure 4, Situation Awareness processes main frame comprising ownship information monitoring module, adjacent machine DF17 moduluss of conversion with evading
Block, adjacent machine surveillance and tracking module and CAS modules.
Ownship information monitoring module be configured by on-board data source obtain comprising the machine longitude, latitude, speed, the time,
The machine ADS-B information of the contents such as height, and it is transferred to adjacent machine DF17 modular converters.Due to it is follow-up calculate adjacent machine angle, away from
From when, need the information such as longitude and latitude using the machine, height, thus ownship information monitoring module need the longitude and latitude to the machine,
The information such as height carry out processing the information such as the radio altitude of track smoothing the machine, longitude and latitude, pressure altitude.Ownship information
The contents such as the machine longitude, latitude, speed, time, height are also sent to Situation Awareness and process main frame with evading by monitoring module
FPGA, is divided into the data of multiple 56 by FPGA by all kinds, and inserts the ME fields of DF17 forms, is assembled into multiple being adapted to
In the different types of ADS-B message of 1090ES Data-Links transmission, at a different rate by transmission channel in the form of broadcasting
Launch.
Adjacent machine DF17 modular converters are configured to the angle according to adjacent machine ADS-B information and the machine ADS-B information acquisition neighbour's machine
Degree, distance, height and timestamp.In order to set up the tracking of adjacent machine, need decoded ADS-B information is changed and located
Reason, by the information such as height, longitude and latitude, vacant lot state be converted into the adjacent machine of data mode required for CAS modules angle, away from
From, height and timestamp.
Relative distance and relative position angle calculation formula are：
The first step：Calculate the machine coordinate in geocentric coordinate system.
X-A=(NA+h-A) * cos (lat-A) * cos (lon-A)
Y-A=(NA+h-A) * cos (lat-A) * sin (lon-A)
Z-A=(NA* (1-e2)+h-A)*sin(lat-A)
Wherein, a represents WGC84 coordinate system semimajor axis of ellipsoids, and e represents the WGC84 coordinate system compressions of the Earth, and lat-A represents this
Machine latitude, lon-A represent the machine longitude, and h-A represents the machine height, during x-A, y-A, z-A represent the machine geocentric coordinate system respectively
Xyz axial coordinates.
Second step：Calculate target aircraft coordinate in geocentric coordinate system.
X-B=(NB+h-B) * cos (lat-B) * cos (lon-B)
Y-B=(NB+h-B) * cos (lat-B) * sin (lon-B)
Z-B=(NB* (1-e2)+h-B)*sin(lat-B)
Wherein, lat-B represents target aircraft latitude, and lon-B represents target aircraft longitude, and h-B represents target aircraft height,
X-B, y-B, z-B represent xyz axial coordinates in the machine geocentric coordinate system respectively.
3rd step：Target aircraft is calculated relative to the machine rectangular coordinate.
X=-sin (lat-A) * cos (lon-A) * (x-B-x-A)-sin (lat-A) * sin (lon-A) * (y-B-y-A)+
cos(lat-A)*(z-B-z-A)
Y=-sin (lon-A) * (x-B-x-A)+cos (lon-A) * (y-B-y-A)
Z=cos (lat-A) * cos (lon-A) * (x-B-x-A)+cos (lat-A) * sin (lon-A) * (y-B-y-A)+
sin(lat-A)*(z-B-z-A)
Wherein, x, y, z are represented in target aircraft geocentric coordinate system respectively relative to the machine xyz axial coordinate.
4th step：Target aircraft is calculated relative to the machine polar coordinate.
Dis=sqrt (x2+y2)
Azi-angle=a*tan (y/x)
Wherein, dis represents target aircraft relative to the machine distance, and azi-angle represents target aircraft ownship location angle.
The adjacent machine surveillance and tracking module is configured the angle according to adjacent machine, distance, height and timestamp and evaluates adjacent machine
Threat level, and the angle of adjacent machine, distance, timestamp and threat level are sent to into CAS modules, and are passed through by CAS modules
Unmanned Aerial Vehicle Data Link is transmitted to ground surface end.
Surveillance and tracking module to conversion after adjacent machine information processed and tracked, during tracking exist three shapes
State is monitored, is captured, tracking, and monitoring module mutually switches in 3 states according to the state of adjacent machine, when adjacent machine is in tracking
State, then be predicted and smooth to which, and the result after smoothing delivers to CAS modules.
Fig. 2 is the machine and adjacent machine and the communication modes of earth station.
ADS-B information is incorporated DO-185B airborne collision avoidance Processing Algorithm by the present invention, by receiving the ADS-B letters in spatial domain
Breath, so as to set up the surveillance and tracking to adjacent machine, and alerts to the threat for producing according to corresponding algorithm.TCAS was loaded in the past
Aircraft can only be tracked monitoring to the aircraft for loading S mode answering machine, and be by actively inquiring S mode answering machine simultaneously
The answer signal of S mode answering machine is obtained, so as to calculate the information such as relative distance and relative bearing.Currently by ADS-B technologies
Synthesization is carried out with TCAS, the aircraft for loading ADS-B actively sends broadcast message, and the TCAS of synthesization just passively can be received extensively
Broadcast signal and decode the information such as intruder longitude and latitude, height, aircraft identification, air speed, further according to the longitude and latitude and height of the machine
Degree calculates the relative distance and relative bearing of invasion machine, so as to produce alarm suggestion.Due to being entered by the way of passive reception
Line trace is alerted, therefore can reduce the dependence to radio-frequency module in traditional TCAS, is simplified equipment reduces cost and is more suitable for gently
Type aircraft or unmanned plane are used, while reducing the frequency that inquiry sends, reduce the interference to spatial domain wireless environment；On the other hand
Relatively conventional TCAS, ADS-B can provide more accurate angular surveying and estimation, and solving omnidirectional antenna cannot direction finding
Defect, makes system possess complete situational awareness, so as to the collision avoidance for horizontal direction provides possibility.
The present invention mainly has following feature：
1.S patterns answering machine and ACAS transmitting-receiving main frames share two omnidirectional antennas, fully achieve all of S mode answering machine
The distance measurement function and height measurement function of function and ACAS systems, the advantages of reducing equipment volume, reduce power.S mode
Answering machine sends answer signal and ACAS transmitting-receiving main frames send shared two omnidirectional antennas of request signal and carry out time-sharing multiplex, but
When signal is received receive by all means and decode.
2. the judgement using the realization of ADS-B technologies to intruder orientation, and the active inquiry rate of ACAS systems is reduced,
Reduce radio interference.
3. using the ACAS inquiry cycle methods distribution antenna resources of obfuscation, in the situation for allowing certain response rate to reduce
Under, it is to avoid ACAS receive-transmit systems are conflicted with the response of S mode answering machine.
Claims (4)
1. a kind of unmanned plane active threat avoidance system based on blank pipe Data-Link, applies at unmanned aerial vehicle onboard end, comprising radio frequency
Transceiver module and Situation Awareness process main frame comprising ownship information monitoring mould with process main frame, the Situation Awareness is evaded with evading
Block, adjacent machine DF17 modular converters, adjacent machine surveillance and tracking module and CAS modules, it is characterised in that：
The radio-frequency (RF) receiving and transmission module is configured to receive the adjacent machine ADS-B information that ground surface end and other aircrafts send, and is transferred to
Adjacent machine DF17 modular converters；
The ownship information monitoring module is configured to obtain the machine ADS-B information by on-board data source, and is transferred to adjacent machine
DF17 modular converters；
Adjacent machine DF17 modular converters be configured to according to adjacent machine ADS-B information and the machine ADS-B information acquisition neighbour machine angle, away from
From, height and timestamp；
The adjacent machine surveillance and tracking module is configured the prestige that the angle according to adjacent machine, distance, height and timestamp evaluate adjacent machine
Side of body rank, and the angle of adjacent machine, distance, timestamp and threat level are sent to into CAS modules, and nobody is passed through by CAS modules
Machine Data-Link is transmitted to ground surface end.
2. a kind of unmanned plane active avoidance system based on blank pipe Data-Link according to claim 1, it is characterised in that institute
Radio-frequency (RF) receiving and transmission module is stated comprising transmitter module, the ownship information monitoring module is additionally configured to pass through the machine ADS-B information
Transmitter module is to emission.
3. a kind of unmanned plane active avoidance system based on blank pipe Data-Link according to claim 2, it is characterised in that this
Machine information monitoring module is also configured the request signal of the answer signal and ACAS transmitting-receiving main frame for producing S mode answering machine, described
Transmitter module includes a transmission channel, sends answer signal and request signal by the method using time-sharing multiplex.
4. a kind of unmanned plane active avoidance system based on blank pipe Data-Link according to claim 1, it is characterised in that institute
Radio-frequency (RF) receiving and transmission module is stated comprising receiver module, first receiving channel of the receiver module comprising the upper omnidirectional antenna of connection and connection
Second receiving channel of lower omnidirectional antenna, the first receiving channel and the second receiving channel receive S moulds using the method for frequency division multiplexing
The request signal of formula answering machine, the broadcast singal of ACAS transmitting-receiving main frames, ACAS receive and dispatch the answer signal of main frame.
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| CN107403564A (en) * | 2017-08-07 | 2017-11-28 | 深圳市华琥技术有限公司 | A kind of flight collision avoidance method of unmanned plane |
| CN107463184A (en) * | 2017-07-19 | 2017-12-12 | 中国人民解放军理工大学 | It is a kind of based on the unmanned cluster Robot dodge strategy vertically moved |
| CN108023600A (en) * | 2017-11-15 | 2018-05-11 | 中国航空无线电电子研究所 | Based on time-multiplexed airborne collision avoidance system receiving channel emerging system |
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