CN109131909A - anti-collision system based on ADS-B - Google Patents
anti-collision system based on ADS-B Download PDFInfo
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- CN109131909A CN109131909A CN201810939807.XA CN201810939807A CN109131909A CN 109131909 A CN109131909 A CN 109131909A CN 201810939807 A CN201810939807 A CN 201810939807A CN 109131909 A CN109131909 A CN 109131909A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
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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
Abstract
The present invention discloses a kind of anti-collision system based on ADS-B, includes: ADS-B formation-decoding module: for being decoded to the ADS-B information of the adjacent machine broadcast received, calculating the location information of adjacent machine；Anticollision information handles submodule: the distance, height and timestamp of angle, adjacent machine relative to the machine for the location information of adjacent machine to be converted to adjacent machine relative to the machine, and be confirmed whether to track adjacent machine, then tracking information list is sent to Anticollision information processing module；Anticollision information processing module: for handling using angle, distance, height and timestamp of the anticollision algorithm to the adjacent machine in tracking information list, anticollision alarm decision and traffic alert decision are made.The present invention can reduce the dependence to radio-frequency module in traditional TCAS, and simplifying equipment reduces that cost is more suitable light aerocraft or unmanned plane uses, while reducing the frequency of inquiry transmission, reduce the interference to airspace wireless environment.
Description
Technical field
The present invention relates to a kind of airborne collision avoidance systems for merging ADS-B system and TCAS system；Belong to technical field of aerospace.
Background technique
Traditional aerial anti-collision system relies primarily on TCAS (Traffic Alert and Collision Avoidance
System), it to conflict prediction can only by obtain current and historical position, velocity information, conflict prediction ability with
The increase of Route reform complexity and substantially reduce, be unable to fully flexibly adapt to airspace management differentiation.In order to promote TCAS
Performance, need to existing anticollision tracking system (Collision Avoidance System, CAS) design principle carry out more
Newly, and more effective input data is introduced.Automatic dependent surveillance technology (ADS-B) technology can improve aircraft in-flight it
Between mutual surveillance coverage.Compared with TCAS, the position report of ADS-B is unsolicited broadcast formula, need not be issued between aircraft
Inquiry is ready to receive and handles the report of the position of asymptotic aircraft.According to the motion of Federal Aviation office (FAA), it is desirable that in the year two thousand twenty
ADS-B equipment is equipped on all aircrafts in the past, therefore the use of ADS-B technology will be a kind of trend in anti-collision system.ADS-B
Using for data will enable TCAS to obtain more accurate angle and velocity information and can effectively increase the monitoring model of TCAS
It encloses.
Summary of the invention
Goal of the invention of the invention is to provide a kind of anti-collision system based on ADS-B, be handed over by ADS-B and TCAS equipment
Connection cooperation provides anticollision and alerts decision and traffic alert etc., and compared with single ADS-B system and TCAS system, the present invention is having
The simplification equipment of effect while reduce cost, can provide more accurate angle measurement and estimation, increase airspace and monitor model
It encloses, improves airspace surveillance coverage, also provide possibility for subsequent horizontal collision avoidance.
Goal of the invention of the invention is achieved through the following technical solutions:
A kind of anti-collision system based on ADS-B, comprising ADS-B formation-decoding module, ADS-B surveillance and tracking processing module,
Anticollision information processing module；
ADS-B formation-decoding module is used to be decoded the ADS-B information of the adjacent machine broadcast received, calculates adjacent machine
Location information；
Angle that Anticollision information processing submodule is used to be converted to the location information of adjacent machine adjacent machine relative to the machine, adjacent machine
Relative to the distance, height and timestamp of the machine, and be confirmed whether to track adjacent machine, then by tracking information list send to
Anticollision information processing module；
Anticollision information processing module is used to utilize angle, distance, height of the anticollision algorithm to the adjacent machine in tracking information list
Degree and timestamp are handled, and anticollision alarm decision and traffic alert decision are made.
Preferably, ADS-B formation-decoding module executes following procedure step:
Step 1.1) carries out whole world CPR decoding to ADS-B information of the time difference no more than 10 seconds of same adjacent machine, obtains
Obtain the location information of adjacent machine
The location information for the adjacent machine that step 1.2), calculating whole world CPR decoding obtain judges the distance at a distance from the machine
Whether in maximum range of receiving, if then entering step 1.3)；
Step 1.3), according to last time obtain adjacent seat in the plane set or the whole world CPR decoding acquisition adjacent machine location information
As the decoded reference point of local CPR, local CPR is done to the ADS-B information for the same adjacent machine being currently received and is decoded；
The location information for the adjacent machine that global CPR decoding and local CPR decoding obtain is done error calculation by step 1.4), if
The global CPR location information decoded is exported within 10 meters and gives Anticollision information processing module by data difference.
Preferably, ADS-B surveillance and tracking processing module executes following procedure step:
Step 2.1), tracking, smooth the machine location information；
The location information of adjacent machine is converted to adjacent machine relative to this using the location information of smoothed out the machine by step 2.2)
The distance, height and timestamp of the angle of machine, adjacent machine relative to the machine；
Step 2.3) exists relative to the angle of the machine, adjacent machine relative to the distance, height and timestamp of the machine according to adjacent machine
It monitors, capture, being switched between three states of tracking；
Step 2.4) will enter angle of the adjacent machine relative to the machine of the adjacent machine of tracking mode, adjacent machine relative to the machine away from
From, height and timestamp carry out it is smooth after, tracking information list is added, tracking information list is sent to Anticollision information processing mould
Block.
The anti-collision system for being preferably based on ADS-B also includes ADS-B receiver, for receiving the ADS-B letter of adjacent machine broadcast
Breath, and it is transferred to ADS-B formation-decoding module.
The anti-collision system for being preferably based on ADS-B also includes ADS-B transmitter, for accusing warning information by broadcast
Know the aircraft in earth station and ambient airspace, evacuation is suggested to be sent to corresponding adjacent machine.
The beneficial effects of the present invention are:
Existing anticollision alarm equipment, which is unable to satisfy, implements monitoring alarm to the aircraft of assembly ADS-B, for this problem,
The invention proposes a kind of anti-collision system based on ADS-B, by receiving the ADS-B information in airspace, to establish to adjacent machine
Surveillance and tracking, and alerted according to threat of the corresponding algorithm to generation.The system is carried out using passive received mode
Tracking alarm, therefore the present invention can reduce the dependence to radio-frequency module in traditional TCAS, it is more suitable that simplified equipment reduces cost
It closes light aerocraft or unmanned plane uses, while reducing the frequency of inquiry transmission, reduce the interference to airspace wireless environment；It is another
Aspect relatively traditional TCAS, ADS-B are capable of providing more accurate angle measurement and estimation, to be the collision avoidance of horizontal direction
Provide possibility.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the anti-collision system based on ADS-B.
Fig. 2 is the decoding process schematic diagram of ADS-B formation-decoding module.
Fig. 3 is the surveillance and tracking flow diagram of ADS-B surveillance and tracking processing module.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, the anti-collision system based on ADS-B includes ADS-B receiver (ADS-B IN), Anticollision information processing
Module and ADS-B transmitter (ADS-B OUT).
ADS-B receiver receives the ADS-B information of adjacent machine broadcast by radio frequency reception technology.
It is computer system that Anticollision information, which handles submodule, at ADS-B formation-decoding module, ADS-B surveillance and tracking
Manage module, Anticollision information processing module.ADS-B formation-decoding module be used for receive adjacent machine broadcast ADS-B information into
Row decoding, calculates the location information of adjacent machine.Anticollision information processing submodule is used to the location information of adjacent machine being converted to adjacent machine
The distance, height and timestamp of angle, adjacent machine relative to the machine relative to the machine, and be confirmed whether to track adjacent machine,
Then tracking information list is sent to Anticollision information processing module.Anticollision information processing module is used for using anticollision algorithm to tracking
Angle, distance, height and the timestamp of adjacent machine in information list are handled, and make anticollision alarm decision and traffic alert is determined
Plan, and evacuation are suggested.
ADS-B information provides the information such as the S mode address of adjacent machine, longitude and latitude, height, vacant lot state, should by decoding
ADS-B informational message can obtain the relative position of adjacent machine, so that the tracking for adjacent machine provides foundation.ADS-B information passes through CPR
Decoding, therefrom decoding obtains the latitude and longitude information of aircraft.As shown in Fig. 2, ADS-B formation-decoding module executes following procedure step
It is rapid:
Step 1.1) carries out whole world CPR decoding to ADS-B information of the time difference no more than 10 seconds of same adjacent machine, obtains
Obtain the location information of adjacent machine.It can decide whether by the S mode address of ADS-B information as same adjacent machine.In ADS-B information
CPR coded portion uses two kinds of coding modes, respectively surprise coding and even coding, odd coding and the transmission interval time occasionally encoded
Generally less than 10 seconds, by carrying out whole world CPR decoding, the position of available neighbour's machine to the odd coding and even coding that successively receive
Confidence breath.
The location information for the adjacent machine that step 1.2), calculating whole world CPR decoding obtain judges the distance at a distance from the machine
Whether in maximum range of receiving, if then entering step 1.3).Wherein, maximum range of receiving is that anti-collision system receives invasion machine
The maximum distance of signal.
The adjacent machine that step 1.3), the historical data set according to the adjacent seat in the plane that the last time obtains or whole world CPR decoding obtain
Location information be used as the decoded reference point of local CPR, to be currently received it is same neighbour machine ADS-B information be local CPR
Decoding.When being decoded using local CPR, it is only necessary to which one in surprise coding or even coding just, but needs to cooperate reference point ability
The location information of adjacent machine is solved, reference point can select historical data or whole world CPR to decode the location information of the adjacent machine obtained.
The location information for the adjacent machine that global CPR is decoded and CPR decoding in local obtains is done error calculation by step 1.4), such as
The global CPR location information decoded is exported within 10 meters and gives Anticollision information processing module by fruit data difference.
The major function of ADS-B surveillance and tracking processing module is that effective tracking is established to adjacent machine, by corresponding smooth
Algorithm provides tracking information list for Anticollision information processing module.As shown in figure 3, ADS-B surveillance and tracking processing module execute with
Lower program step:
Step 2.1), tracking, smooth the machine location information.It tracks, the location information of smooth the machine includes radio
Highly, the information such as longitude and latitude, pressure altitude.
The location information of adjacent machine is converted to adjacent machine relative to this using the location information of smoothed out the machine by step 2.2)
The distance, height and timestamp of the angle of machine, adjacent machine relative to the machine.In order to establish the tracking of adjacent machine, need to decoded
ADS-B information is converted and is handled, and converts Anticollision information processing module institute for information such as height, longitude and latitude, vacant lot states
Angle, distance, height and the timestamp of the data mode needed --- adjacent machine.
Relative distance and relative position angle calculation formula are as follows:
Step 1: calculating 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 indicates that WGC84 coordinate system semimajor axis of ellipsoid, e indicate the WGC84 coordinate system compression of the Earth, and lat_A indicates this
Machine latitude, lon_A indicate that the machine longitude, h_A indicate the machine height, x_A, y_A, and z_A is respectively indicated in the machine geocentric coordinate system
Xyz axial coordinate.
Step 2: calculating 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 indicates that target aircraft latitude, lon_B indicate that target aircraft longitude, h_B indicate target aircraft height,
X_B, y_B, z_B respectively indicate xyz axial coordinate in the machine geocentric coordinate system.
Step 3: calculating target aircraft relative to the machine rectangular co-ordinate.
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 respectively indicated in target aircraft geocentric coordinate system relative to the machine xyz axial coordinate.
Step 4: calculating target aircraft relative to the machine polar coordinates.
Dis=sqrt (x2+y2)
Azi_angle=a*tan (y/x)
Wherein, dis indicates target aircraft relative to the machine distance, and azi_angle indicates target aircraft ownship location angle.
Step 2.3) exists relative to the angle of the machine, adjacent machine relative to the distance, height and timestamp of the machine according to adjacent machine
It monitors, capture, being switched between three states of tracking.
Listening state is primarily to obtain the height of intruder；Trapped state is primarily to obtain intruder
Distance；Tracking mode is primarily to persistently track the state of intruder.System once receives the S mould crossed comprising unlisten
The DF17 message of formula address, then the aircraft is just included into ADS-B monitoring range, and the intruder is judged as in monitoring
State.When the correct height report and height that receive air penetration machine are less than 10000ft and according to height condition and loss height
Number update intruder sum value be greater than or equal to 20, intruder should jump to trapped state from listening state.If
Continuous two periods receive the success of invasion machine DF17 message, and are legal, then aircraft enters tracking mode.
Step 2.4) will enter angle of the adjacent machine relative to the machine of the adjacent machine of tracking mode, adjacent machine relative to the machine away from
From, height and timestamp carry out it is smooth after, tracking information list is added, tracking information list is sent to Anticollision information processing mould
Block.
ADS-B transmitter informs anticollision warning information and traffic alert information in earth station and ambient airspace by broadcast
Aircraft, evacuation is suggested to be sent to corresponding adjacent machine.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to the guarantor of appended claims of the invention
Protect range.
Claims (5)
1. a kind of anti-collision system based on ADS-B comprising ADS-B formation-decoding module, ADS-B surveillance and tracking processing module, is prevented
Hit message processing module, it is characterised in that:
The ADS-B formation-decoding module is used to be decoded the ADS-B information of the adjacent machine broadcast received, calculates adjacent machine
Location information；
Anticollision information processing submodule is used to be converted to the location information of adjacent machine angle of the adjacent machine relative to the machine, adjacent machine
Relative to the distance, height and timestamp of the machine, and be confirmed whether to track adjacent machine, then by tracking information list send to
Anticollision information processing module；
The Anticollision information processing module is used to utilize angle, distance, height of the anticollision algorithm to the adjacent machine in tracking information list
Degree and timestamp are handled, and anticollision alarm decision and traffic alert decision are made.
2. a kind of anti-collision system based on ADS-B according to claim 1, it is characterised in that the ADS-B information decodes mould
Block executes following procedure step:
Step 1.1) carries out whole world CPR decoding to ADS-B information of the time difference no more than 10 seconds of same adjacent machine, obtains adjacent
The location information of machine；
Whether the location information for the adjacent machine that step 1.2), calculating whole world CPR decoding obtain judges the distance at a distance from the machine
In maximum range of receiving, if then entering step 1.3)；
Step 1.3), according to last time obtain adjacent seat in the plane set or the whole world CPR decoding acquisition adjacent machine location information conduct
The local decoded reference point of CPR is local CPR to the ADS-B information for the same adjacent machine being currently received and is decoded；
The location information for the adjacent machine that global CPR is decoded and CPR decoding in local obtains is done error calculation by step 1.4), if number
According to difference within 10 meters, the global CPR location information decoded is exported and gives Anticollision information processing module.
3. a kind of anti-collision system based on ADS-B according to claim 1, it is characterised in that at the ADS-B surveillance and tracking
It manages module and executes following procedure step:
Step 2.1), tracking, smooth the machine location information；
The location information of adjacent machine is converted to adjacent machine relative to the machine using the location information of smoothed out the machine by step 2.2)
The distance, height and timestamp of angle, adjacent machine relative to the machine；
Step 2.3) is being supervised relative to the angle of the machine, adjacent machine relative to the distance, height and timestamp of the machine according to adjacent machine
It listens, capture, tracking and switched between three states；
Step 2.4), will enter tracking mode adjacent machine adjacent machine relative to the angle of the machine, adjacent machine relative to the machine distance,
After height and timestamp carry out smoothly, tracking information list is added, tracking information list is sent to Anticollision information processing module.
4. a kind of anti-collision system based on ADS-B according to claim 1, it is characterised in that also include ADS-B receiver, use
In the ADS-B information of the adjacent machine broadcast of reception, and it is transferred to ADS-B formation-decoding module.
5. a kind of anti-collision system based on ADS-B according to claim 1, it is characterised in that also include ADS-B transmitter, use
In warning information is informed the aircraft in earth station and ambient airspace by broadcast, evacuation is suggested to be sent to corresponding adjacent machine.
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| CN110491176A (en) * | 2019-07-01 | 2019-11-22 | 四川九洲空管科技有限责任公司 | A kind of TCAS target combination surveillance implementation method |
| CN111402639A (en) * | 2020-03-30 | 2020-07-10 | 中国电子科技集团公司第五十四研究所 | ADS-B position resolving method based on satellite-borne scene |
| CN112085970A (en) * | 2020-09-11 | 2020-12-15 | 中国航空工业集团公司雷华电子技术研究所 | Air traffic anti-collision method and device and airplane |
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