CN107656266A - S mode secondary radar information fusion system and its fusion method based on ADS B - Google Patents
S mode secondary radar information fusion system and its fusion method based on ADS B Download PDFInfo
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- CN107656266A CN107656266A CN201710754063.XA CN201710754063A CN107656266A CN 107656266 A CN107656266 A CN 107656266A CN 201710754063 A CN201710754063 A CN 201710754063A CN 107656266 A CN107656266 A CN 107656266A
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
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Abstract
The invention belongs to air traffic control to monitor field, more particularly to a kind of S mode secondary radar information fusion system and its fusion method based on ADS B.The present invention includes signal processing module, flight path processing module, fusion treatment module, the input of signal processing module receives the first answer signal, the second answer signal from radar, the ADS B receivers being integrated on radar respectively, the input of the output end connection flight path processing module of signal processing module, the input of the output end connection fusion treatment module of the flight path processing module, the fusion treatment module carry out Track Fusion and form targetpath.The present invention makes full use of the accuracy of ADS B data information, supplement is used as the data message of radar-covered area, greatly increase the availability and tracking accuracy of monitoring system, expand monitoring scope, contribute to interval to dispatch, contribute to aircraft to carry out unremitting reliable surveillance in whole flight course.
Description
Technical field
The invention belongs to air traffic control to monitor field, more particularly to a kind of S mode secondary radar letter based on ADS-B
Cease emerging system and its fusion method.
Background technology
As the great-leap-forward of global economy increases the fast development with civil aviaton's cause, following air traffic can become increasingly
It is busy, it is most important to obtaining accurately and reliably aircraft surveillance information, while require the precision and security of blank pipe monitoring system
Can more and more higher.S mode secondary radar provides more fully surveillance coverage and air-ground number for Air Traffic Control Automation System
According to communication capacity, the surveillance coverage of secondary radar can be lifted very well.The code number of conventional secondary radar is only 4096, and
Be highly susceptible to crosstalk and the mixed influence disturbed, and S mode secondary radar by the aircraft geocoding of 24 into 16777216
Code, successfully solves the problems, such as aircraft code resource deficiency.But most of S mode secondary radars are not made S mode
For main mode of operation, first, the answering machine that current aircraft carries only has part to support S mode, second, S mode secondary radar
When S mode works, there can be the risk for losing target.Air traffic control system needs to introduce the collaboration regulatory model of multi-data source.
ADS-B Automatic dependent surveillance broadcast systems are a kind of technological means applied to air traffic supervision, and it is based on
The information format of 1090ES Data-Links is compatible with the information format of S mode secondary radar.It is (complete that ADS-B relies primarily on GNSS
Ball navigational satellite system) determine the accurate position of aircraft, ground and aerial institute's prison in need are then given by way of broadcast
The user of visual information sends the various information of aircraft, so as to realize real-time monitoring of the user to the aircraft.
The emerging system of existing radar is mainly more radar fusion systems, and monitoring scope is smaller, and radar fusion system
Tracking accuracy it is not high.
The content of the invention
The present invention is in order to overcome the above-mentioned deficiencies of the prior art, there is provided a kind of S mode secondary radar letter based on ADS-B
Emerging system is ceased, present invention greatly improves monitoring scope and tracking accuracy.
To achieve the above object, present invention employs following technical measures：
A kind of S mode secondary radar information fusion system based on ADS-B includes signal processing module, flight path processing mould
Block, fusion treatment module, wherein,
Signal processing module, for first answer signal of the reception from radar and from the ADS- being integrated on radar
Second answer signal of B receivers, and Radar Signal Detection is carried out successively to the first answer signal, the second answer signal respectively
The first response bag data, the second response bag data are obtained with information extraction, decoding process, coded treatment；
Flight path processing module, for receiving the first response bag data, the second response bag from signal processing module respectively
Data, and respectively to the first response bag data, the second response bag data successively carry out data prediction, data correlation,
Track In Track and prediction obtain the first track data, the second track data；
Fusion treatment module, for receiving the first track data from flight path processing module, the second track data respectively,
And first track data and the second track data are subjected to Track Fusion and form targetpath.
Preferably, the fusion treatment module is carried out using weighted mean method to the first track data and the second track data
Track Fusion.
Present invention also offers a kind of fusion method of the S mode secondary radar information fusion system based on ADS-B, including
Following steps：
S1, the signal processing module receive the first response letter from radar, the ADS-B receivers being integrated on radar
Number, the second answer signal, signal processing module carries out radar signal inspection successively to the first answer signal, the second answer signal respectively
Survey and information extraction, decoding process, coded treatment obtain the first response bag data, the second response bag data；
S2, flight path processing module receive the first response bag data from signal processing module, the second response bag data, and
The first response bag data, the second response bag data are carried out successively respectively data prediction, data correlation, Track In Track and
Prediction obtains the first track data, the second track data；
S3, fusion treatment module receive the first track data from flight path processing module, the second track data respectively, and
First track data and the second track data are subjected to Track Fusion and form targetpath.
Preferably, the concrete operations of the data correlation for the first response bag data after data prediction in step S2
Step includes：The first response bag data forms the first data point mark after data prediction, first determines whether described first
A codes, C codes and S codes in data point mark whether with the existing track matching in flight path processing module, in the first data point mark
Whether distance and orientation are within the scope of the ripple door of the existing flight path in flight path processing module, if in the first data point mark
A codes, C codes and S codes mismatch with the existing flight path in flight path processing module, and the distance in the first data point mark and side
Within the scope of the ripple door of existing flight path of the position not in flight path processing module, then the first data point mark and flight path processing module
In existing flight path onrelevant；If A codes, C codes and S codes in the first data point mark and the boat in flight path processing module
Mark matches, or the existing flight path of distance and orientation in flight path processing module in the first data point mark ripple door scope it
Interior, then the first data point mark is associated with the existing flight path in flight path processing module；To the first data point on not associated
Mark carries out temporary transient track association, and Track In Track and prediction are carried out to the first data point mark in association.
Preferably, the concrete operations of the data correlation for the second response bag data after data prediction in step S2
Step includes：The second response bag data forms the second data point mark after data prediction, first determines whether described second
ADS-B data in data point mark whether with existing track matching in flight path processing module, if in the second data point mark
Existing flight path mismatches in ADS-B data and flight path processing module, then the second data point mark with flight path processing module
There is flight path onrelevant；If the ADS-B data in the second data point mark and existing track matching in flight path processing module, described
Second data point mark is associated with existing flight path in flight path processing module；The second data point mark on not associated is temporarily navigated
Mark is associated, and Track In Track and prediction are carried out to the second data point mark in association.
Further, the Track In Track in step S2 and prediction specifically include following operating procedure：
For the first response bag data, flight path processing module is filtered processing to the first data point mark in association, right
First data point mark of temporary transient track association carries out mending point processing, obtains the first track data；
For the second response bag data, flight path processing module is filtered processing to the second data point mark in association, right
Second data point mark of temporary transient track association carries out mending point processing, obtains the second track data.
Further, the ripple door scope is 2 ° of Prediction distance 120m and pre- interception.
Further, the concrete operation step of temporary transient track association is carried out to the first data point mark on not associated to be included：
The first mark data in the first data point mark on will be not associated form the temporary transient flight path of single-point, if on the temporary transient flight path of single-point
Continuous three frame associated with the first data point mark, then the first data point mark in association is subjected to Track In Track and prediction.
Further, the concrete operation step bag of temporary transient track association is carried out to the second data point mark on not associated
Include：The first mark data in the second data point mark on will be not associated form the temporary transient flight path of single-point, if single-point temporarily navigates
Continuous three frame on mark associates with the second data point mark, then by the second data point mark progress Track In Track in association and in advance
Survey.
The beneficial effects of the present invention are：
1), the present invention includes signal processing module, flight path processing module, fusion treatment module, the first answer signal, second
Answer signal respectively by Radar Signal Detection and information extraction, decoding process, coded treatment data, pretreatment, data correlation,
Track In Track and prediction, independent targetpath is produced, and be sent into fusion treatment module and merged, generate final fusion boat
Mark, reference frame is provided for the surveillance coverage of secondary radar.The present invention makes full use of the accuracy of ADS-B data messages, is thunder
Data message up to overlay area is used as supplement, greatly increases the availability and tracking accuracy of monitoring system, expands prison
Depending on scope, contribute to interval to dispatch, contribute to aircraft to carry out unremitting reliable surveillance in whole flight course.
2) unique address code search matching ADS-B flight paths and S mode flight path, are make use of, that is, judges first data
A codes, C codes and S codes in point mark whether with existing track matching in flight path processing module, and judge second data point
ADS-B data in mark whether with existing track matching in flight path processing module, greatly ensure that the accuracy of data correlation,
Ensure the reliability of Track Fusion.
Brief description of the drawings
Fig. 1 is the composition frame chart of the emerging system of the present invention；
Fig. 2 is the targetpath display interface of the present invention.
10-signal processing module, 20-flight path processing module
30-fusion treatment module
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
As shown in figure 1, a kind of S mode secondary radar information fusion system based on ADS-B include signal processing module 10,
Flight path processing module 20, fusion treatment module 30, the signal processing module 10 are used to receive the first response letter from radar
Number and the second answer signal from the ADS-B receivers being integrated on radar, and respectively to the first answer signal, second should
Answer signal and carry out Radar Signal Detection and information extraction, decoding process, coded treatment successively and obtain the first response bag data, the
Two response bag datas；Flight path processing module 20 is used to receive the first response bag data from signal processing module 10, the respectively
Two response bag datas, and data prediction, number are carried out successively to the first response bag data, the second response bag data respectively
The first track data, the second track data are obtained according to association, Track In Track and prediction；Fusion treatment module 30 is used to receive respectively
The first track data, the second track data from flight path processing module 20, and by first track data and the second flight path
Data carry out Track Fusion and form targetpath.
Specifically, radar and the ADS-B receivers that are integrated on radar while receive respective answer signal, i.e., described the
One track data, the second track data are respectively S mode track data, ADS-B pattern track datas.Radar ground interrogation machine to
Aircraft launches interrogation pulse signals, and the transponder on aircraft is made to corresponding interrogation mode according to the interrogation pulse signals received
Automatic-answering back device, ground response decoding device complete target detection and identification, formed original aircraft report.Second answer signal
It is that aircraft is actively sent, data is received by the integrated ADS-B receivers with the S mode secondary radar, by handling, changing
Form original aircraft report.
Present invention also offers a kind of fusion method of the S mode secondary radar information fusion system based on ADS-B, including
Following steps：
S1, the signal processing module 10 receive the first response from radar, the ADS-B receivers being integrated on radar
Signal, the second answer signal, signal processing module 10 carry out radar letter successively to the first answer signal, the second answer signal respectively
Number detection and information extraction, decoding process, coded treatment obtain the first response bag data, the second response bag data；
S2, flight path processing module 20 receive the first response bag data from signal processing module 10, the second response bag number
According to, and data prediction, data correlation, flight path are carried out successively to the first response bag data, the second response bag data respectively
Tracking and prediction obtain the first track data, the second track data；
S3, fusion treatment module 30 receive the first track data from flight path processing module 20, the second flight path number respectively
According to, and first track data and the second track data are subjected to Track Fusion and form targetpath.
Specifically, the concrete operations of the data correlation for the first response bag data after data prediction in step S2
Step includes：The first response bag data forms the first data point mark after data prediction, first determines whether described first
A codes, C codes and S codes in data point mark whether with the existing track matching in flight path processing module 20, that is, judge the first data
Whether A codes, C codes and S codes in point mark match with the A codes, C codes and S codes of the existing flight path in flight path processing module 20, the
Distance and orientation in one data point mark whether the Prediction distance 120m of the existing flight path in flight path processing module 20 and pre-
Within the scope of 2 ° of interception, if A codes, C codes and S codes in the first data point mark and the boat in flight path processing module 20
Mark mismatches, and the prediction of the existing flight path of distance and orientation not in flight path processing module 20 in the first data point mark
Within the scope of 2 ° of distance 120m and pre- interception, then the first data point mark and the existing flight path in flight path processing module 20 without
Association；If A codes, C codes and S codes in the first data point mark and the existing track matching in flight path processing module 20, or the
The Prediction distance 120m of the existing flight path of distance and orientation in flight path processing module 20 in one data point mark and prediction side
Within the scope of 2 ° of position, then the first data point mark is associated with the existing flight path in flight path processing module 20, on not associated
The first data point mark carry out temporary transient track association, Track In Track and prediction are carried out to the first data point mark in association.
The concrete operation step bag of the data correlation for the second response bag data after data prediction in step S2
Include：The second response bag data forms the second data point mark after data prediction, first determines whether second data point
ADS-B data in mark whether with existing track matching in flight path processing module 20, if the ADS-B numbers in the second data point mark
Mismatched according to existing flight path in flight path processing module 20, then the second data point mark in flight path processing module 20 with having navigated
Mark onrelevant；If ADS-B data in the second data point mark and existing track matching in flight path processing module 20, described the
Two data point marks are associated with existing flight path in flight path processing module 20, and the second data point mark on not associated is temporarily navigated
Mark is associated, and Track In Track and prediction are carried out to the second data point mark in association.
Temporary transient track association is prepared for Track In Track and prediction, and the first data point mark on not associated is carried out temporarily
The concrete operation step of track association includes：The first mark data in the first data point mark on will be not associated form single-point
Temporary transient flight path, if continuous three frame on the temporary transient flight path of single-point associates with the first data point mark, by the first number in association
Strong point mark carries out Track In Track and prediction.Correlating method and the data correlation for the first response bag data after data prediction
Concrete operation step it is identical, that is, judge A codes, C codes, S codes, orientation, whether distance match.
The concrete operation step of temporary transient track association is carried out to the second data point mark on not associated to be included：On not associated
The second data point mark in the first mark data formed the temporary transient flight path of single-point, if continuous three frame on the temporary transient flight path of single-point
Associated with the second data point mark, then the second data point mark in association is subjected to Track In Track and prediction.Correlating method with it is right
The concrete operation step of the data correlation of the second response bag data after data prediction is identical, that is, judges that ADS-B data are
No matching.
The Track In Track and prediction specifically include following operating procedure：
For the first response bag data, flight path processing module 20 is filtered processing to the first data point mark in association,
First data point mark of temporary transient track association is carried out mending point processing, obtains the first track data；
For the second response bag data, flight path processing module 20 is filtered processing to the second data point mark in association,
Second data point mark of temporary transient track association is carried out mending point processing, obtains the second track data.
The fusion treatment module 30 carries out flight path using weighted mean method to the first track data and the second track data
Fusion.
In order to realize the unified refresh cycle, it is necessary to which any instant specified in system carries out the first track data and the
The renewal and maintenance of two track datas, realize the synchronization of the first track data and the second track data, it is necessary to by interpolation and
Extrapolation process is completed.Then weight coefficient is determined using the residual error of the first track data, if residual error is bigger, illustrates the first flight path
The quality of data is poorer, increases the weight coefficient of the second track data, according to the size of residual error, sets different weight coefficients, such as
Fruit target, which is in radar shadown, causes the first track data, directly makes up the first track data with the second track data.
Respective aircraft report data are passed through data prediction by flight path processing module, data correlation, Track In Track with it is pre-
Survey, obtain track data, and track data is sent into fusion treatment module.
Data prediction is in order to which the reason such as will be interfered in the first response bag data and the second response bag data is produced
Some raw are unreasonable or even the data of apparent error remove and the second response bag data is carried out into CPR decodings, obtain last
Track data carry out respective data correlation.
Data correlation is to judge whether some mark signals come from same airplane signal.
Track In Track mainly carries out best estimate with prediction to the dbjective state in controlled air space, and provides them under
The predicted value of one moment motion state, with random statistical decision-making, adaptive-filtering, the Targets Dots data enrolled are carried out
Integrated treatment, maintain the continuous estimation to multiple target current states, there is provided the position of useful target, speed, motor-driven situation and
Attribute Recognition, so that fusion treatment module uses.
Fig. 2 is targetpath display interface, it can be seen that aircraft number (the A codes of aircraft) is 1021, the position of aircraft from
The radial distance of radar station is 146.573 kms, and the position of aircraft is 80.08 ° with respect to the angle of direct north, the height of aircraft
For 10394 meters, the speed of a ship or plane of aircraft is 696.10 thousand ms/hour；Aircraft number (the A codes of aircraft) is 1024, and the position of aircraft is from thunder
Radial distance up to station is 63.054 kms, and the position of aircraft is 73.20 ° with respect to the angle of direct north, and the height of aircraft is
4176 meters, the speed of a ship or plane of aircraft is 586.30 thousand ms/hour；Aircraft number (the A codes of aircraft) is 1011, and the position of aircraft is from radar station
Radial distance be 107.312 kms, the position of aircraft is 229.27 ° with respect to the angle of direct north, and the height of aircraft is
10394 meters, the speed of a ship or plane of aircraft is 702.80 thousand ms/hour；Aircraft number (the A codes of aircraft) is 1504, and the position of aircraft is from radar
The radial distance stood is 354.216 kms, and the position of aircraft is 144.81 ° with respect to the angle of direct north, and the height of aircraft is
8412 meters, the speed of a ship or plane of aircraft is 542.90 thousand ms/hour；Aircraft number (the A codes of aircraft) is 2576, and the position of aircraft is from radar station
Radial distance be 74.872 kms, the position of aircraft is 211.06 ° with respect to the angle of direct north, and the height of aircraft is 9479
Rice, the speed of a ship or plane of aircraft is 966.70 thousand ms/hour；Aircraft number (the A codes of aircraft) is 0004, the footpath of the position of aircraft from radar station
Be 234.061 kms to distance, the position of aircraft is 279.49 ° with respect to the angle of direct north, and the height of aircraft is 10973
Rice, the speed of a ship or plane of aircraft is 684.00 thousand ms/hour；Aircraft number (the A codes of aircraft) is 1015, the footpath of the position of aircraft from radar station
Be 238.780 kms to distance, the position of aircraft is 74.58 ° with respect to the angle of direct north, and the height of aircraft is 8412 meters,
The speed of a ship or plane of aircraft is 740.50 thousand ms/hour.
Claims (9)
1. the S mode secondary radar information fusion system based on ADS-B, it is characterised in that：Including signal processing module (10), boat
Mark processing module (20), fusion treatment module (30), wherein,
Signal processing module (10), for first answer signal of the reception from radar and from the ADS- being integrated on radar
Second answer signal of B receivers, and Radar Signal Detection is carried out successively to the first answer signal, the second answer signal respectively
The first response bag data, the second response bag data are obtained with information extraction, decoding process, coded treatment；
Flight path processing module (20), for receive respectively the first response bag data from signal processing module (10), second should
Bag data is answered, and carries out data prediction, data pass successively to the first response bag data, the second response bag data respectively
Connection, Track In Track and prediction obtain the first track data, the second track data；
Fusion treatment module (30), for receiving the first track data from flight path processing module (20), the second flight path respectively
Data, and first track data and the second track data are subjected to Track Fusion and form targetpath.
2. the S mode secondary radar information fusion system based on ADS-B as claimed in claim 1, it is characterised in that：It is described to melt
Close processing module (30) and Track Fusion is carried out to the first track data and the second track data using weighted mean method.
3. a kind of fusion method of the S mode secondary radar information fusion system based on ADS-B as claimed in claim 2, its
It is characterised by, comprises the following steps：
S1, the signal processing module (10) receive the first response letter from radar, the ADS-B receivers being integrated on radar
Number, the second answer signal, signal processing module (10) carries out radar letter successively to the first answer signal, the second answer signal respectively
Number detection and information extraction, decoding process, coded treatment obtain the first response bag data, the second response bag data；
S2, flight path processing module (20) receive the first response bag data from signal processing module (10), the second response bag number
According to, and data prediction, data correlation, flight path are carried out successively to the first response bag data, the second response bag data respectively
Tracking and prediction obtain the first track data, the second track data；
S3, fusion treatment module (30) receive the first track data, the second flight path number from flight path processing module (20) respectively
According to, and first track data and the second track data are subjected to Track Fusion and form targetpath.
4. the fusion method of the S mode secondary radar information fusion system based on ADS-B as claimed in claim 3, its feature
It is, the concrete operation step of the data correlation for the first response bag data after data prediction in step S2 includes：
The first response bag data forms the first data point mark after data prediction, first determines whether in the first data point mark
A codes, C codes and S codes whether with the existing track matching in flight path processing module (20), distance in the first data point mark with
And whether orientation within the scope of the ripple door of the existing flight path in flight path processing module (20), if the A in the first data point mark
Code, C codes and S codes and the existing flight path in flight path processing module (20) mismatch, and the distance in the first data point mark with
And orientation is within the scope of the ripple door of the existing flight path in flight path processing module (20), then the first data point mark and flight path
Existing flight path onrelevant in processing module (20)；If A codes, C codes and S codes and flight path processing mould in the first data point mark
Distance and orientation in existing track matching in block (20), or the first data point mark in flight path processing module (20)
Within the scope of having the ripple door of flight path, then the first data point mark is associated with the existing flight path in flight path processing module (20)；
Temporary transient track association is carried out to the first data point mark on not associated, the first data point mark in association is carried out Track In Track and
Prediction.
5. the fusion method of the S mode secondary radar information fusion system based on ADS-B as claimed in claim 4, its feature
It is, the concrete operation step of the data correlation for the second response bag data after data prediction in step S2 includes：
The second response bag data forms the second data point mark after data prediction, first determines whether in the second data point mark
ADS-B data whether with existing track matching in flight path processing module (20), if the ADS-B data in the second data point mark
Mismatched with existing flight path in flight path processing module (20), then the second data point mark in flight path processing module (20) with having
Flight path onrelevant；If the ADS-B data in the second data point mark and existing track matching, institute in flight path processing module (20)
It is associated with existing flight path in flight path processing module (20) to state the second data point mark；The second data point mark on not associated is carried out
Temporary transient track association, Track In Track and prediction are carried out to the second data point mark in association.
6. the fusion method of the S mode secondary radar information fusion system based on ADS-B as claimed in claim 5, its feature
It is, the Track In Track and prediction in step S2 specifically include following operating procedure：
For the first response bag data, flight path processing module (20) is filtered processing to the first data point mark in association, right
First data point mark of temporary transient track association carries out mending point processing, obtains the first track data；
For the second response bag data, flight path processing module (20) is filtered processing to the second data point mark in association, right
Second data point mark of temporary transient track association carries out mending point processing, obtains the second track data.
7. the fusion method of the S mode secondary radar information fusion system based on ADS-B as claimed in claim 4, its feature
It is：The ripple door scope is 2 ° of Prediction distance 120m and pre- interception.
8. the fusion method of the S mode secondary radar information fusion system based on ADS-B as claimed in claim 4, its feature
It is, the concrete operation step of temporary transient track association is carried out to the first data point mark on not associated to be included：On not associated
The first mark data in first data point mark form the temporary transient flight path of single-point, if continuous three frame on the temporary transient flight path of single-point with
In the association of first data point mark, then the first data point mark in association is subjected to Track In Track and prediction.
9. the fusion method of the S mode secondary radar information fusion system based on ADS-B as claimed in claim 5, its feature
It is, the concrete operation step of temporary transient track association is carried out to the second data point mark on not associated to be included：On not associated
The first mark data in second data point mark form the temporary transient flight path of single-point, if continuous three frame on the temporary transient flight path of single-point with
In the association of second data point mark, then the second data point mark in association is subjected to Track In Track and prediction.
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| CN108985454A (en) * | 2018-06-28 | 2018-12-11 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Airline carriers of passengers individual goal recognition methods |
| CN109856621A (en) * | 2018-12-07 | 2019-06-07 | 中国船舶重工集团公司第七二四研究所 | A kind of radar self-adaption Passive Location based on satellite detecting information |
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