CN109131909B - Collision avoidance system based on ADS-B - Google Patents
Collision avoidance system based on ADS-B Download PDFInfo
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Abstract
本发明公开一种基于ADS‑B的防撞系统，包含：ADS‑B信息解码模块：用于对接收到的邻机广播的ADS‑B信息进行解码，解算出邻机的位置信息；ADS‑B监视跟踪处理模块：用于将邻机的位置信息转换为邻机相对于本机的角度、邻机相对于本机的距离、高度和时间戳，并确认是否对邻机进行跟踪，然后将跟踪信息列表送至防撞信息处理子模块；防撞信息处理子模块：用于利用防撞算法对跟踪信息列表中的邻机的角度、距离、高度和时间戳进行处理，做出防撞告警决策和交通告警决策。本发明可以减少对传统TCAS中射频模块的依赖，简化设备降低成本更加适合轻型飞机或无人机使用，同时减少问询发送的频率，降低了对空域无线环境的干扰。
The invention discloses an anti-collision system based on ADS-B, comprising: an ADS-B information decoding module: used for decoding the received ADS-B information broadcast by a neighbor, and calculating the position information of the neighbor; B monitoring and tracking processing module: It is used to convert the position information of the neighbor into the angle of the neighbor relative to the local machine, the distance, height and time stamp of the neighbor relative to the local machine, and confirm whether to track the neighbor, and then The tracking information list is sent to the anti-collision information processing sub-module; the anti-collision information processing sub-module is used to process the angle, distance, height and time stamp of the neighbors in the tracking information list by using the anti-collision algorithm, and make an anti-collision alarm decision and traffic alert decision. The invention can reduce the dependence on the radio frequency module in the traditional TCAS, simplify the equipment and reduce the cost, and is more suitable for the use of light aircraft or unmanned aerial vehicles.
Description
Technical Field
The invention relates to an airborne collision avoidance system integrating an ADS-B system and a TCAS system; belongs to the technical field of aviation.
Background
The traditional air Collision Avoidance system mainly depends on TCAS (traffic Alert and Collision Availance System), the Collision prediction can only depend on the obtained current and historical position and speed information, the Collision prediction capability is greatly reduced along with the increase of the complexity of the air route flight, and the evolution of airspace management cannot be fully and flexibly adapted. To improve the performance of TCAS, the existing Collision Avoidance tracking System (CAS) design principle needs to be updated, and more effective input data is introduced. Automatic dependent surveillance (ADS-B) technology can improve the cross-surveillance capability between aircraft in flight. In contrast to TCAS, ADS-B location reporting is self-broadcasting, and location reports for asymptotic aircraft can be received and processed without the need for queries between aircraft. According to the Federal Airworthiness Agency (FAA) proposal, it is required to equip all aircraft with ADS-B equipment before 2020, and thus the use of ADS-B technology in collision avoidance systems will be a trend. The use of ADS-B data enables the TCAS to obtain more accurate angle and speed information and effectively increase the monitoring range of the TCAS.
Disclosure of Invention
The invention aims to provide an ADS-B-based collision avoidance system, which provides collision avoidance warning decision, traffic warning and the like through the cross-linking coordination of the ADS-B and TCAS equipment.
The invention aims to be realized by the following technical scheme:
an ADS-B based collision avoidance system comprises an ADS-B information decoding module, an ADS-B monitoring and tracking processing module and a collision avoidance information processing submodule;
the ADS-B information decoding module is used for decoding the received ADS-B information broadcasted by the adjacent machine and solving the position information of the adjacent machine;
the ADS-B monitoring and tracking processing module is used for converting the position information of the adjacent machine into the angle of the adjacent machine relative to the local machine, the distance, the height and the timestamp of the adjacent machine relative to the local machine, confirming whether the adjacent machine is tracked or not, and then sending a tracking information list to the anti-collision information processing submodule;
and the anti-collision information processing submodule is used for processing the angle, the distance, the height and the timestamp of the adjacent machine in the tracking information list by using an anti-collision algorithm and making an anti-collision alarm decision and a traffic alarm decision.
Preferably, the ADS-B information decoding module performs the following procedure steps:
step 1.1), global CPR decoding is carried out on ADS-B information of which the time difference value of the same adjacent aircraft does not exceed 10 seconds, and position information of the adjacent aircraft is obtained
Step 1.2), calculating the distance between the position information of the adjacent machine obtained by global CPR decoding and the local machine, and judging whether the distance is in the maximum receiving range, if so, entering step 1.3);
step 1.3), performing local CPR decoding on the currently received ADS-B information of the same adjacent plane according to the position of the adjacent plane obtained last time or the position information of the adjacent plane obtained by global CPR decoding as a reference point of the local CPR decoding;
and step 1.4) performing error calculation on the position information of the adjacent machine obtained by global CPR decoding and local CPR decoding, and outputting the position information obtained by global CPR decoding to the anti-collision information processing submodule if the data difference is within 10 meters.
Preferably, the ADS-B monitoring trace processing module performs the following program steps:
step 2.1), tracking and smoothing position information of the local machine;
step 2.2), converting the position information of the adjacent machine into an angle of the adjacent machine relative to the local machine, a distance of the adjacent machine relative to the local machine, a height and a timestamp by using the smoothed position information of the local machine;
step 2.3), switching among three states of monitoring, capturing and tracking according to the angle of the adjacent machine relative to the local machine, the distance, the height and the timestamp of the adjacent machine relative to the local machine;
and 2.4) smoothing the angle of the adjacent machine entering the tracking state relative to the local machine, the distance, the height and the timestamp of the adjacent machine relative to the local machine, adding a tracking information list, and sending the tracking information list to an anti-collision information processing submodule.
Preferably, the ADS-B based collision avoidance system further comprises an ADS-B receiver, configured to receive ADS-B information broadcast by the neighboring station, and transmit the ADS-B information to the ADS-B information decoding module.
Preferably, the ADS-B based collision avoidance system further comprises an ADS-B transmitter for broadcasting the alert decision information to the ground station and the aircraft in the surrounding air area, and transmitting the avoidance advice to the corresponding neighboring aircraft.
The invention has the beneficial effects that:
aiming at the problem that the existing anti-collision warning equipment cannot meet the requirement of monitoring and warning the airplane assembled with the ADS-B, the invention provides an ADS-B-based anti-collision system, which establishes monitoring and tracking of adjacent airplanes by receiving ADS-B information in the airspace and warns the generated threats according to a corresponding algorithm. The system adopts a passive receiving mode to track and alarm, so that the dependence on a radio frequency module in the traditional TCAS can be reduced, equipment is simplified, the cost is reduced, the system is more suitable for a light airplane or an unmanned aerial vehicle, the frequency of inquiry and sending is reduced, and the interference on the wireless environment of the airspace is reduced; on the other hand, compared with the traditional TCAS, ADS-B can provide more accurate angle measurement and estimation, thereby providing possibility for collision avoidance in the horizontal direction.
Drawings
Fig. 1 is a schematic structural diagram of an ADS-B based collision avoidance system.
Fig. 2 is a schematic diagram of a decoding flow of the ADS-B information decoding module.
Fig. 3 is a schematic view of a monitoring trace flow of the ADS-B monitoring trace processing module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown IN FIG. 1, the ADS-B based collision avoidance system includes an ADS-B receiver (ADS-B IN), a collision avoidance information processing sub-module, and an ADS-B transmitter (ADS-B OUT).
And the ADS-B receiver receives the ADS-B information broadcasted by the adjacent machine through a radio frequency receiving technology.
The anti-collision information processing submodule is a computer system and comprises an ADS-B information decoding module, an ADS-B monitoring and tracking processing module and an anti-collision information processing submodule. And the ADS-B information decoding module is used for decoding the received ADS-B information broadcasted by the adjacent machine and calculating the position information of the adjacent machine. The ADS-B monitoring and tracking processing module is used for converting the position information of the adjacent machine into the angle of the adjacent machine relative to the local machine, the distance, the height and the time stamp of the adjacent machine relative to the local machine, confirming whether the adjacent machine is tracked or not, and then sending the tracking information list to the anti-collision information processing submodule. And the collision avoidance information processing submodule is used for processing the angles, distances, heights and timestamps of the adjacent machines in the tracking information list by using a collision avoidance algorithm, making a collision avoidance warning decision, a traffic warning decision and an avoidance suggestion.
The ADS-B information provides information such as S mode address, longitude and latitude, height, air-ground state and the like of the adjacent machine, and the relative position of the adjacent machine can be obtained by decoding the ADS-B information message, so that a basis is provided for tracking the adjacent machine. And the ADS-B information is decoded through CPR (CPR code) to obtain the latitude and longitude information of the airplane. As shown in fig. 2, the ADS-B information decoding module performs the following process steps:
step 1.1), global CPR decoding is carried out on ADS-B information of which the time difference value of the same adjacent aircraft does not exceed 10 seconds, and position information of the adjacent aircraft is obtained. Whether the adjacent machines are the same can be judged through the S mode address of the ADS-B information. A CPR coding part in ADS-B information adopts two coding modes, namely odd coding and even coding, the sending interval time of the odd coding and the even coding is generally less than 10 seconds, and the position information of a neighbor can be obtained by carrying out global CPR decoding on the odd coding and the even coding which are received successively.
Step 1.2), calculating the distance between the adjacent computer and the local computer according to the position information of the adjacent computer obtained by global CPR decoding, judging whether the distance is in the maximum receiving range, and if so, entering step 1.3). Wherein, the maximum receiving range is the farthest distance of the collision avoidance system for receiving the signals of the intruder.
And step 1.3), performing local CPR decoding on the currently received ADS-B information of the same adjacent plane according to the historical data of the position of the adjacent plane obtained last time or the position information of the adjacent plane obtained by global CPR decoding as a reference point for local CPR decoding. When local CPR decoding is adopted, only one of odd encoding or even encoding is needed, but the position information of the adjacent machine can be solved by matching with a reference point, and the reference point can be selected from historical data or the position information of the adjacent machine obtained by global CPR decoding.
And step 1.4), performing error calculation on the position information of the adjacent machine obtained by global CPR decoding and local CPR decoding, and outputting the position information obtained by global CPR decoding to the anti-collision information processing submodule if the data difference is within 10 meters.
The ADS-B monitoring and tracking processing module has the main function of establishing effective tracking for adjacent machines and providing a tracking information list for the anti-collision information processing submodule through a corresponding smoothing algorithm. As shown in FIG. 3, the ADS-B Trace processing module performs the following program steps:
step 2.1), tracking and smoothing position information of the local computer. The tracked and smoothed position information of the local computer comprises information such as radio altitude, longitude and latitude, air pressure altitude and the like.
And 2.2) converting the position information of the adjacent machine into the angle of the adjacent machine relative to the local machine, the distance of the adjacent machine relative to the local machine, the height and the time stamp by using the smoothed position information of the local machine. In order to establish the tracking of the adjacent machine, the decoded ADS-B information needs to be converted and processed, and the information such as height, longitude and latitude, air space state and the like is converted into a data form, namely the angle, distance, height and timestamp of the adjacent machine, needed by the anti-collision information processing submodule.
The relative distance and the relative position angle are calculated by the following formula:
the first step is as follows: and calculating local coordinates in the geocentric coordinate system.
x_A＝(NA+h_A)*cos(lat_A)*cos(lon_A)
y_A＝(NA+h_A)*cos(lat_A)*sin(lon_A)
z_A＝(NA*(1-e2)+h_A)*sin(lat_A)
Wherein, a represents the earth major axis of WGC84 coordinate system, e represents the earth oblateness of WGC84 coordinate system, lat _ A represents the local latitude, lon _ A represents the local longitude, h _ A represents the local height, and x _ A, y _ A and z _ A respectively represent the xyz axis coordinate of the local earth center coordinate system.
The second step is that: and calculating the coordinates of the target airplane in the geocentric coordinate system.
x_B＝(NB+h_B)*cos(lat_B)*cos(lon_B)
y_B＝(NB+h_B)*cos(lat_B)*sin(lon_B)
z_B＝(NB*(1-e2)+h_B)*sin(lat_B)
Wherein lat _ B represents the latitude of the target aircraft, lon _ B represents the longitude of the target aircraft, h _ B represents the altitude of the target aircraft, and x _ B, y _ B and z _ B respectively represent the xyz-axis coordinate in the local geocentric coordinate system.
The third step: and calculating the rectangular coordinate of the target airplane relative to the local airplane.
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)
And x, y and z respectively represent coordinates relative to the local xyz axis in the geocentric coordinate system of the target aircraft.
The fourth step: the polar coordinates of the target aircraft relative to the native aircraft are calculated.
dis＝sqrt(x2+y2)
azi_angle＝a*tan(y/x)
Where dis represents the target aircraft relative to the native range and azi _ angle represents the target aircraft native azimuth.
And 2.3) switching among three states of monitoring, capturing and tracking according to the angle of the adjacent machine relative to the local machine, the distance of the adjacent machine relative to the local machine, the height and the timestamp.
The monitoring state is mainly used for obtaining the height of an intruding airplane; the capture state is mainly used for obtaining the distance of the invading airplane; the tracking state is mainly used for continuously tracking the state of the invading airplane. Upon receiving the DF17 message containing the non-snooped S-mode address, the system brings the aircraft within ADS-B surveillance range and the intruder aircraft is determined to be in a snoop state. And when the correct height report of the air intrusion machine is received and the height is less than 10000ft, updating the sum value of the intrusion airplane to be more than or equal to 20 according to the height state and the number of times of losing the height, and switching the intrusion airplane from the monitoring state to the capturing state. If the message of the intruder DF17 is successfully received for two consecutive periods and is legal, the aircraft enters a tracking state.
And 2.4) smoothing the angle of the adjacent machine entering the tracking state relative to the local machine, the distance, the height and the timestamp of the adjacent machine relative to the local machine, adding a tracking information list, and sending the tracking information list to an anti-collision information processing submodule.
And the ADS-B transmitter informs the ground station and the airplanes in the surrounding airspace of the collision avoidance warning decision information and the traffic warning decision information through broadcasting, and sends avoidance suggestions to corresponding adjacent airplanes.
It should be understood that equivalents and modifications of the technical solution and inventive concept thereof may occur to those skilled in the art, and all such modifications and alterations should fall within the scope of the appended claims.
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| CN110491176B (en) * | 2019-07-01 | 2020-09-01 | 四川九洲空管科技有限责任公司 | A Realization Method of TCAS Target Hybrid Surveillance |
| CN111402639B (en) * | 2020-03-30 | 2021-02-26 | 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 | A kind of air traffic collision avoidance method, device and aircraft |
| CN115862389A (en) * | 2022-11-18 | 2023-03-28 | 中国航空无线电电子研究所 | Framework of airborne collision avoidance system |
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