CN107656266B - S-mode secondary radar information fusion system based on ADS-B and fusion method thereof - Google Patents
S-mode secondary radar information fusion system based on ADS-B and fusion method thereof Download PDFInfo
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Abstract
The invention belongs to the field of air traffic control monitoring, and particularly relates to an S-mode secondary radar information fusion system based on ADS-B and a fusion method thereof. The system comprises a signal processing module, a track processing module and a fusion processing module, wherein the input end of the signal processing module respectively receives a first response signal and a second response signal from a radar and an ADS-B receiver integrated on the radar, the output end of the signal processing module is connected with the input end of the track processing module, the output end of the track processing module is connected with the input end of the fusion processing module, and the fusion processing module performs track fusion to form a target track. The invention fully utilizes the accuracy of ADS-B data information to supplement the data information of the radar coverage area, greatly improves the availability and tracking accuracy of the monitoring system, enlarges the monitoring range, is beneficial to interval scheduling and is beneficial to the uninterrupted and reliable monitoring of the airplane in the whole flight process.
Description
Technical Field
The invention belongs to the field of air traffic control monitoring, and particularly relates to an S-mode secondary radar information fusion system based on ADS-B and a fusion method thereof.
Background
With the leap-type growth of global economy and the rapid development of civil aviation industry, air traffic in the future becomes increasingly busy, which is crucial to obtaining accurate and reliable aircraft monitoring information, and meanwhile, the precision and the safety of an air traffic monitoring system are required to be higher and higher. The S-mode secondary radar provides more comprehensive monitoring capability and ground-air data communication capability for the air traffic control automation system, and the monitoring capability of the secondary radar can be well improved. The number of codes of the conventional secondary radar is only 4096, and the conventional secondary radar is easily influenced by crosstalk and mixed interference, and the S-mode secondary radar is coded into 16777216 codes by a 24-bit airplane address, so that the problem of insufficient airplane code resources is successfully solved. However, most of the S-mode secondary radars do not use the S-mode as a main working mode, and firstly, only part of transponders carried by airplanes currently support the S-mode, and secondly, when the S-mode secondary radars work in the S-mode, a risk of losing targets exists. The air traffic control system needs to introduce a coordinated policing model of multiple data sources.
The ADS-B broadcast type automatic correlation monitoring system is a technical means applied to air traffic supervision, and the information format based on the 1090ES data chain is compatible with the information format of the S-mode secondary radar. ADS-B mainly depends on GNSS (global navigation satellite system) to determine the precise position of the airplane, and then sends various information of the airplane to all users needing monitoring information on the ground and in the air in a broadcasting mode, thereby realizing the real-time monitoring of the airplane by the users.
The existing radar fusion system is mainly a multi-radar fusion system, the monitoring range is small, and the tracking accuracy of the radar fusion system is not high.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an S-mode secondary radar information fusion system based on ADS-B, and the invention greatly improves the monitoring range and the tracking precision.
In order to achieve the purpose, the invention adopts the following technical measures:
an S-mode secondary radar information fusion system based on ADS-B comprises a signal processing module, a track processing module and a fusion processing module, wherein,
the signal processing module is used for receiving a first response signal from a radar and a second response signal from an ADS-B receiver integrated on the radar, and respectively and sequentially carrying out radar signal detection, information extraction, decoding processing and coding processing on the first response signal and the second response signal to obtain first response packet data and second response packet data;
the track processing module is used for respectively receiving first response packet data and second response packet data from the signal processing module, and respectively carrying out data preprocessing, data association, track tracking and prediction on the first response packet data and the second response packet data in sequence to obtain first track data and second track data;
and the fusion processing module is used for respectively receiving the first track data and the second track data from the track processing module and carrying out track fusion on the first track data and the second track data to form a target track.
Preferably, the fusion processing module performs track fusion on the first track data and the second track data by using a weighted average method.
The invention also provides a fusion method of the S-mode secondary radar information fusion system based on ADS-B, which comprises the following steps:
s1, the signal processing module receives a first response signal and a second response signal from a radar and an ADS-B receiver integrated on the radar, and the signal processing module respectively carries out radar signal detection and information extraction, decoding processing and coding processing on the first response signal and the second response signal in sequence to obtain first response packet data and second response packet data;
s2, the track processing module receives first response packet data and second response packet data from the signal processing module, and respectively carries out data preprocessing, data association, track tracking and prediction on the first response packet data and the second response packet data in sequence to obtain first track data and second track data;
and S3, the fusion processing module receives the first track data and the second track data from the track processing module respectively, and carries out track fusion on the first track data and the second track data to form a target track.
Preferably, the specific operation step of data association for the first response packet data after data preprocessing in step S2 includes: the first response packet data form a first data point track after data preprocessing, firstly, whether an A code, a C code and an S code in the first data point track are matched with an existing track in a track processing module or not is judged, whether the distance and the direction in the first data point track are within the wave gate range of the existing track in the track processing module or not is judged, and if the A code, the C code and the S code in the first data point track are not matched with the existing track in the track processing module and the distance and the direction in the first data point track are not within the wave gate range of the existing track in the track processing module, the first data point track is not associated with the existing track in the track processing module; if the A code, the C code and the S code in the first data point track are matched with the existing track in the track processing module, or the distance and the position in the first data point track are within the wave gate range of the existing track in the track processing module, the first data point track is associated with the existing track in the track processing module; and performing temporary track association on the first data point track which is not associated, and performing track tracking and prediction on the first data point track which is associated.
Preferably, the specific operation step of data association for the data-preprocessed second response packet data in step S2 includes: the second response packet data is preprocessed to form a second data point track, whether ADS-B data in the second data point track is matched with an existing track in a track processing module is judged, and if the ADS-B data in the second data point track is not matched with the existing track in the track processing module, the second data point track is not related to the existing track in the track processing module; if ADS-B data in the second data point track is matched with the existing track in the track processing module, the second data point track is associated with the existing track in the track processing module; and performing temporary track association on the second data point tracks which are not associated, and performing track tracking and prediction on the second data point tracks which are associated.
Further, the track tracking and predicting in step S2 specifically includes the following operation steps:
for the first response packet data, the track processing module carries out filtering processing on the associated first data point track and carries out point supplementing processing on the first data point track associated with the temporary track to obtain first track data;
and for the second response packet data, the track processing module carries out filtering processing on the associated second data point track and carries out point supplementing processing on the second data point track associated with the temporary track to obtain second track data.
Further, the gate ranges are the predicted distance 120m and the predicted azimuth 2 °.
Further, the specific operation step of performing temporary track association on the unassociated first data point track comprises: and forming a single-point temporary track by using first point track data in the unassociated first data point tracks, and if three continuous frames on the single-point temporary track are associated with the first data point tracks, carrying out track tracking and prediction on the associated first data point tracks.
Further, the specific operation step of performing temporary track association on the unassociated second data point track comprises the following steps: and forming a single-point temporary track by using first track data in the unassociated second data tracks, and if three continuous frames on the single-point temporary track are associated with the second data tracks, carrying out track tracking and prediction on the associated second data tracks.
The invention has the beneficial effects that:
1) the system comprises a signal processing module, a track processing module and a fusion processing module, wherein a first response signal and a second response signal are subjected to radar signal detection and information extraction, decoding processing, data encoding processing, preprocessing, data association, track tracking and prediction respectively to generate independent target tracks, and the independent target tracks are sent to the fusion processing module for fusion to generate final fusion tracks, so that a reference basis is provided for the monitoring capability of a secondary radar. The invention fully utilizes the accuracy of ADS-B data information to supplement the data information of the radar coverage area, greatly improves the availability and tracking accuracy of the monitoring system, enlarges the monitoring range, is beneficial to interval scheduling and is beneficial to the uninterrupted and reliable monitoring of the airplane in the whole flight process.
2) The ADS-B track and the S-mode track are searched and matched by using the unique address code, namely whether the A code, the C code and the S code in the first data point track are matched with the existing track in the track processing module or not is judged, and whether the ADS-B data in the second data point track are matched with the existing track in the track processing module or not is judged, so that the accuracy of data association is greatly guaranteed, and the reliability of track fusion is ensured.
Drawings
FIG. 1 is a block diagram of the components of the fusion system of the present invention;
FIG. 2 is a target track display interface of the present invention.
10-signal processing module 20-track processing module
30-fusion processing module
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an S-mode secondary radar information fusion system based on ADS-B includes a signal processing module 10, a track processing module 20, and a fusion processing module 30, where the signal processing module 10 is configured to receive a first response signal from a radar and a second response signal from an ADS-B receiver integrated on the radar, and sequentially perform radar signal detection, information extraction, decoding processing, and encoding processing on the first response signal and the second response signal respectively to obtain first response packet data and second response packet data; the track processing module 20 is configured to receive the first response packet data and the second response packet data from the signal processing module 10, and perform data preprocessing, data association, track tracking, and prediction on the first response packet data and the second response packet data in sequence to obtain first track data and second track data; the fusion processing module 30 is configured to receive the first track data and the second track data from the track processing module 20, and perform track fusion on the first track data and the second track data to form a target track.
Specifically, the radar and the ADS-B receiver integrated on the radar receive respective response signals simultaneously, that is, the first track data and the second track data are S-mode track data and ADS-B mode track data, respectively. The radar ground interrogator transmits an interrogation pulse signal to the airplane, the transponder on the airplane makes an automatic response to a corresponding interrogation mode according to the received interrogation pulse signal, and the ground response decoding equipment completes the detection and identification of a target to form an original airplane report. The second response signal is actively sent by the airplane, and is integrated with an ADS-B receiver on the S-mode secondary radar to receive data, and an original airplane report is formed through processing and conversion.
The invention also provides a fusion method of the S-mode secondary radar information fusion system based on ADS-B, which comprises the following steps:
s1, the signal processing module 10 receives a first response signal and a second response signal from a radar and an ADS-B receiver integrated on the radar, and the signal processing module 10 respectively carries out radar signal detection and information extraction, decoding processing and coding processing on the first response signal and the second response signal in sequence to obtain first response packet data and second response packet data;
s2, the track processing module 20 receives the first response packet data and the second response packet data from the signal processing module 10, and sequentially performs data preprocessing, data association, track tracking and prediction on the first response packet data and the second response packet data to obtain first track data and second track data;
s3 and the fusion processing module 30 receive the first track data and the second track data from the track processing module 20, respectively, and perform track fusion on the first track data and the second track data to form a target track.
Specifically, the specific operation steps of the data association of the first response packet data after the data preprocessing in step S2 include: the first response packet data is preprocessed to form a first data point track, firstly, whether the A code, the C code and the S code in the first data point track are matched with the existing track in the track processing module 20 is judged, namely, whether the A code, the C code and the S code in the first data track are matched with the A code, the C code and the S code of the existing track in the track processing module 20 is judged, whether the distance and the direction in the first data track are within the range of the predicted distance 120m and the predicted direction 2 degrees of the existing track in the track processing module 20 is judged, if the a code, C code and S code in the first data trace do not match the existing trace in the trace processing module 20, and the distance and the azimuth in the first data point track are not within the range of 2 ° of the predicted distance 120m and the predicted azimuth of the existing track in the track processing module 20, the first data point track is not associated with the existing track in the track processing module 20; if the A code, the C code and the S code in the first data point track are matched with the existing track in the track processing module 20, or the distance and the position in the first data point track are within the range of 2 degrees of the predicted distance 120m and the predicted position of the existing track in the track processing module 20, the first data point track is associated with the existing track in the track processing module 20, the first data point track on the unassociated track is temporarily associated with the track, and the track tracking and prediction are carried out on the first data point track on the association.
The specific operation step of the data association for the second response packet data after the data preprocessing in step S2 includes: the second response packet data is preprocessed to form a second data point track, firstly, whether ADS-B data in the second data point track is matched with an existing track in the track processing module 20 is judged, and if the ADS-B data in the second data point track is not matched with the existing track in the track processing module 20, the second data point track is not associated with the existing track in the track processing module 20; and if the ADS-B data in the second data point track is matched with the existing track in the track processing module 20, associating the second data point track with the existing track in the track processing module 20, performing temporary track association on the unassociated second data point track, and performing track tracking and prediction on the associated second data point track.
The temporary track association is prepared for track tracking and prediction, and the specific operation steps of performing temporary track association on the unassociated first data point track comprise the following steps: and forming a single-point temporary track by using first point track data in the unassociated first data point tracks, and if three continuous frames on the single-point temporary track are associated with the first data point tracks, carrying out track tracking and prediction on the associated first data point tracks. The association method is the same as the specific operation steps of data association of the first response packet data after data preprocessing, namely whether the A code, the C code, the S code, the direction and the distance are matched or not is judged.
The specific operation steps of performing temporary track association on the unassociated second data point track comprise the following steps: and forming a single-point temporary track by using first track data in the unassociated second data tracks, and if three continuous frames on the single-point temporary track are associated with the second data tracks, carrying out track tracking and prediction on the associated second data tracks. The correlation method is the same as the specific operation steps of the data correlation of the second response packet data after the data preprocessing, namely whether the ADS-B data are matched or not is judged.
The track tracking and prediction specifically comprises the following operation steps:
for the first response packet data, the track processing module 20 performs filtering processing on the associated first data point track, and performs point supplementing processing on the first data point track associated with the temporary track to obtain first track data;
for the second response packet data, the track processing module 20 performs filtering processing on the associated second data point track, and performs point supplementing processing on the second data point track associated with the temporary track to obtain second track data.
The fusion processing module 30 performs track fusion on the first track data and the second track data by using a weighted average method.
In order to realize a uniform refresh cycle, the first track data and the second track data must be updated and maintained at any time specified by the system, and the synchronization of the first track data and the second track data needs to be completed through interpolation and extrapolation processing. And then, determining a weight coefficient by using the residual error of the first track data, if the residual error is larger, indicating that the quality of the first track data is worse, increasing the weight coefficient of the second track data, setting different weight coefficients according to the size of the residual error, and if the target is in a radar blind area to cause the first track data, directly using the second track data to make up for the first track data.
The flight path processing module carries out data preprocessing, data association and flight path tracking and prediction on respective aircraft report data to obtain flight path data, and the flight path data are sent to the fusion processing module.
The data preprocessing is to remove some unreasonable or even obvious wrong data generated by the interference in the first response packet data and the second response packet data, perform CPR decoding on the second response packet data, and acquire the final track data for respective data association.
The data correlation is to determine whether the trace signals are from the same aircraft signal.
The track tracking and prediction mainly comprises the steps of carrying out optimal estimation on target states in a control airspace, giving predicted values of motion states of the target states at the next moment, carrying out comprehensive processing on recorded target track data by using random statistical decision and adaptive filtering, maintaining continuous estimation on the current states of a plurality of targets, and providing position, speed, maneuvering condition and attribute identification of useful targets for a fusion processing module.
FIG. 2 is a target track display interface showing that the aircraft number (aircraft code A) is 1021, the radial distance from the radar station of the aircraft is 146.573 km, the angle between the aircraft position and the north direction is 80.08 degrees, the height of the aircraft is 10394 meters, and the speed of the aircraft is 696.10 km/hr; the number of the airplane (the code A of the airplane) is 1024, the radial distance between the position of the airplane and the radar station is 63.054 kilometers, the included angle between the position of the airplane and the due north direction is 73.20 degrees, the height of the airplane is 4176 meters, and the speed of the airplane is 586.30 kilometers per hour; the number of the airplane (the code A of the airplane) is 1011, the radial distance between the position of the airplane and the radar station is 107.312 kilometers, the included angle between the position of the airplane and the true north direction is 229.27 degrees, the height of the airplane is 10394 meters, and the speed of the airplane is 702.80 kilometers per hour; the number of the airplane (the code A of the airplane) is 1504, the radial distance between the position of the airplane and the radar station is 354.216 kilometers, the included angle between the position of the airplane and the due north direction is 144.81 degrees, the height of the airplane is 8412 meters, and the speed of the airplane is 542.90 kilometers per hour; the number of the airplane (the number A of the airplane) is 2576, the radial distance between the position of the airplane and the radar station is 74.872 kilometers, the included angle between the position of the airplane and the due north direction is 211.06 degrees, the height of the airplane is 9479 meters, and the speed of the airplane is 966.70 kilometers per hour; the number of the airplane (the code A of the airplane) is 0004, the radial distance between the position of the airplane and the radar station is 234.061 kilometers, the included angle between the position of the airplane and the due north direction is 279.49 degrees, the height of the airplane is 10973 meters, and the speed of the airplane is 684.00 kilometers per hour; the number of the airplane (the A code of the airplane) is 1015, the radial distance from the radar station of the airplane is 238.780 kilometers, the included angle of the airplane position relative to the true north direction is 74.58 degrees, the height of the airplane is 8412 meters, and the speed of the airplane is 740.50 kilometers per hour.
Claims (5)
1. A fusion method of an S-mode secondary radar information fusion system based on ADS-B is characterized in that:
the S-mode secondary radar information fusion system based on ADS-B comprises a signal processing module (10), a track processing module (20) and a fusion processing module (30), wherein,
the signal processing module (10) is used for receiving a first response signal from a radar and a second response signal from an ADS-B receiver integrated on the radar, and sequentially performing radar signal detection, information extraction, decoding processing and encoding processing on the first response signal and the second response signal respectively to obtain first response packet data and second response packet data;
the flight path processing module (20) is used for respectively receiving the first response packet data and the second response packet data from the signal processing module (10), and respectively carrying out data preprocessing, data association, flight path tracking and prediction on the first response packet data and the second response packet data in sequence to obtain first flight path data and second flight path data;
the fusion processing module (30) is used for respectively receiving the first track data and the second track data from the track processing module (20) and carrying out track fusion on the first track data and the second track data to form a target track;
the fusion processing module (30) adopts a weighted average method to perform track fusion on the first track data and the second track data;
the fusion method comprises the following steps:
s1, the signal processing module (10) receives a first response signal and a second response signal from a radar and an ADS-B receiver integrated on the radar, and the signal processing module (10) respectively carries out radar signal detection and information extraction, decoding processing and coding processing on the first response signal and the second response signal in sequence to obtain first response packet data and second response packet data;
s2, the track processing module (20) receives the first response packet data and the second response packet data from the signal processing module (10), and respectively carries out data preprocessing, data association, track tracking and prediction on the first response packet data and the second response packet data in sequence to obtain first track data and second track data;
s3, the fusion processing module (30) receives the first track data and the second track data from the track processing module (20) respectively, and carries out track fusion on the first track data and the second track data to form a target track;
the specific operation step of the data association for the first response packet data after the data preprocessing in the step S2 includes: the first response packet data form a first data point track after data preprocessing, firstly, whether an A code, a C code and an S code in the first data point track are matched with an A code, a C code and an S code of an existing track in a track processing module (20) or not is judged, whether the distance and the direction in the first data point track are within the range of the wave gate of the existing track in the track processing module (20) or not is judged, and if the A code, the C code and the S code in the first data point track are not matched with the A code, the C code and the S code of the existing track in the track processing module (20) and the distance and the direction in the first data point track are not within the range of the wave gate of the existing track in the track processing module (20), the first data point track is not associated with the existing track in the track processing module (20); if the A code, the C code and the S code in the first data point track are matched with the A code, the C code and the S code of the existing track in the track processing module (20), or the distance and the position in the first data point track are within the wave gate range of the existing track in the track processing module (20), the first data point track is associated with the existing track in the track processing module (20); performing temporary track association on the first data point track which is not associated, and performing track tracking and prediction on the first data point track which is associated;
the specific operation step of the data association for the second response packet data after the data preprocessing in step S2 includes: the second response packet data is preprocessed to form a second data point track, whether ADS-B data in the second data point track is matched with an existing track in the track processing module (20) is judged, and if the ADS-B data in the second data point track is not matched with the existing track in the track processing module (20), the second data point track is not associated with the existing track in the track processing module (20); if ADS-B data in the second data point track is matched with the existing track in the track processing module (20), the second data point track is associated with the existing track in the track processing module (20); and performing temporary track association on the second data point tracks which are not associated, and performing track tracking and prediction on the second data point tracks which are associated.
2. The fusion method of the ADS-B based S-mode secondary radar information fusion system according to claim 1, wherein the track tracking and prediction in step S2 specifically includes the following operation steps:
for the first response packet data, the track processing module (20) carries out filtering processing on the associated first data point track, and carries out point supplementing processing on the first data point track associated with the temporary track to obtain first track data;
and for the second response packet data, the track processing module (20) carries out filtering processing on the associated second data point track, and carries out point supplementing processing on the second data point track associated with the temporary track to obtain second track data.
3. The fusion method of the ADS-B based S-mode secondary radar information fusion system of claim 1, wherein: the gate ranges are the predicted distance 120m and the predicted azimuth 2 °.
4. The fusion method of the ADS-B based S-mode secondary radar information fusion system according to claim 1, wherein the specific operation step of performing the temporary track association on the unassociated first data point track includes: and forming a single-point temporary track by using first point track data in the unassociated first data point tracks, and if three continuous frames on the single-point temporary track are associated with the first data point tracks, carrying out track tracking and prediction on the associated first data point tracks.
5. The fusion method of the S-mode secondary radar information fusion system based on ADS-B of claim 1, wherein the specific operation step of performing temporal track association on the unassociated second data point track includes: and forming a single-point temporary track by using first track data in the unassociated second data tracks, and if three continuous frames on the single-point temporary track are associated with the second data tracks, carrying out track tracking and prediction on the associated second data tracks.
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| CN108985454B (en) * | 2018-06-28 | 2022-04-01 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | Individual target identification method for civil aviation airliner |
| 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 |
| CN110673099B (en) * | 2019-09-29 | 2021-12-21 | 深圳市华讯方舟智能信息技术有限公司 | Multi-radar point trace correlation method and device |
| CN111768653B (en) * | 2020-06-17 | 2022-09-30 | 中国电子科技集团公司第十四研究所 | ADS-B test data simulation method |
| CN114120717B (en) * | 2021-11-29 | 2022-09-20 | 四川九洲空管科技有限责任公司 | ADS-B anti-collision method based on DO185B standard |
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