CN112433849A - Method and system for multi-monitoring-source data distributed fusion of integrated tower system - Google Patents

Method and system for multi-monitoring-source data distributed fusion of integrated tower system Download PDF

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CN112433849A
CN112433849A CN202011252931.2A CN202011252931A CN112433849A CN 112433849 A CN112433849 A CN 112433849A CN 202011252931 A CN202011252931 A CN 202011252931A CN 112433849 A CN112433849 A CN 112433849A
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data
time
slot
fused
fusion
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CN112433849B (en
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张曌
武俊青
唐偕文
刘兵
朱文成
晏彬
吴畏
覃雪飞
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Chengdu Civil Aviation Air Traffic Control Science & Technology Co ltd
Second Research Institute of CAAC
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Second Research Institute of CAAC
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Abstract

The invention belongs to the technical field of civil aviation, and particularly relates to a method and a system for multi-monitoring-source data distributed fusion of an integrated tower system, wherein the method comprises the following steps: respectively setting a data slot to be fused for a plurality of aviation targets; and storing the single monitoring source track data into a data slot to be fused corresponding to the target track, updating the time of the data slot to be fused, sending the data slot to be fused reaching the sending moment to a fusion thread, traversing the time slot of each mapped data slot to be fused by the fusion thread at regular time, and fusing the received track data. The invention drives the flight path data fusion by the arrival time of the flight path data of each flight path target, so that the fused target flight path appears as early as possible; the time for receiving the flight path data is different for different flight path targets, the time for fusing is different, a time distribution type fusion mode is adopted, the flight path data of all the flight path targets do not need to be fused uniformly at a certain moment, and the peak value of the CPU utilization rate does not appear periodically.

Description

Method and system for multi-monitoring-source data distributed fusion of integrated tower system
Technical Field
The invention belongs to the technical field of civil aviation, and particularly relates to a method and a system for multi-monitoring-source data distributed fusion of an integrated tower system.
Background
In a common centralized monitoring source data fusion system, processing monitoring data mainly comprises two independent modules, wherein one module is responsible for receiving single monitoring source data, associating the single monitoring source data with a system track, acquiring the system track number, and then storing the system track number in a memory. And the other module is responsible for fusion, and after the fusion timer is overtime, the data which are from different monitoring sources and are related to the same system track are sequentially acquired from the memory, and then the track fusion is carried out. And finally outputting all the updated system tracks at one time.
In the conventional technical solution, a track fusion process is shown in fig. 1.
And (3) first fusion: let us assume at t0,t0During + T, the target is N for the first time1Detecting by a single monitoring source, creating a new system track, and storing the Data of the single monitoring source in the Data [ N ] corresponding to the system track number1]. At fusion timer timeout, i.e. t0At time + T, this N1And fusing the data of the monitoring sources to obtain a system track.
Fusion for the Nth time: suppose in jT periodIn the space, the target is N2Detecting by a single monitoring source, and storing the Data of the single monitoring source in the Data [ N ] corresponding to the system track number2]. When the fusion timer is overtime, i.e. jT moment, the N is added2And fusing the data of the monitoring sources to obtain a system track.
Fusion for the Mth time: let us assume at t0+(M-1)T,t0During + MT, no monitor source detects the target. At fusion timer timeout, i.e. t0At + MT time, the system track is extrapolated.
And when the track is subjected to extrapolation for multiple times, the target is possibly disappeared, and the track disappearance mark is directly given. The track is deleted.
The traditional technical scheme has the following defects:
and the system track has lag, and the lag can be one fusion period at most. For example, assume at t0At that time, the target is first detected by a single monitored source A. At fusion timer timeout, i.e. t0And at the moment of + T, fusing the data of the monitoring source A and outputting a system track. At the moment, the time of finding the target by the system flight path lags the time of finding the target by the single monitoring source by a fusion period T at most.
The fusion of system tracks into serial processing, i.e. at t0,t0After all data of all monitoring sources of + T are linked with the system track, at T0And starting to perform fusion updating on each system track at the moment of + T. This may cause a centralized explosion of the calculated amount at the fusion time, resulting in a high CPU utilization rate, a low CPU utilization rate and a large fluctuation of the CPU utilization rate before and after the fusion of the current period is completed and the next fusion is started.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method and a system for the distributed fusion of multiple monitoring source data of an integrated tower system, which drive the fusion of track data by the arrival time of the track data of each track target, thereby leading the fused target track to appear as early as possible; for different flight path targets, the time for receiving flight path data is different, so that the time for fusing is different, a time distribution type fusion mode is adopted, the flight path data of all the flight path targets do not need to be fused uniformly at a certain moment, and the peak value of the CPU utilization rate does not appear periodically.
In a first aspect, the present invention provides a method for multi-monitoring source data distributed fusion of an integrated tower system, including the following steps:
respectively setting a data slot to be fused for a plurality of aviation targets;
successfully associating the received single monitoring source track data with a corresponding target track, storing the track data into a data slot to be fused corresponding to the target track, updating the time of the data slot to be fused, and sending the data slot to be fused reaching the sending moment to a fusion thread;
and when the fusion thread timer is overtime, the fusion thread traverses the time slot of each mapped data slot to be fused, and fuses the received track data.
Preferably, the data slots to be fused are respectively set for the plurality of aviation targets, and specifically:
respectively setting a data slot to be fused for a plurality of aviation targets: p1、P2、…、PM；
The data slot to be fused comprises: the method comprises the following steps that starting time, ending time, the state of whether a data slot sends a fusion thread or not, the state of whether the fusion thread acquires the data slot or not and a time slot array are included, wherein the time slot array comprises a real slot and an empty slot;
the time slot array includes: the method comprises the following steps of time slot starting time, time slot ending time, a fusion period, a state of whether to participate in fusion and a data array from a plurality of monitoring sources participating in current system track fusion;
each data slot to be fused comprises a plurality of time slots: pi＝[Pij]I is more than or equal to 1 and less than or equal to M, i represents the serial number of the data slots to be fused, M represents the total number of the data slots to be fused, j is more than or equal to 0 and less than or equal to N, j represents the serial number of the time slot, N +1 represents the total number of the time slot, PijRepresents the jth time slot in the ith data slot to be fused.
Preferably, the successfully associating to the corresponding target track, storing the track data to the to-be-fused data slot corresponding to the target track, and updating the time of the to-be-fused data slot specifically include:
ti0receiving single monitoring source data at any moment, then associating to obtain a multi-monitoring-source track number i, storing the single monitoring source data into a zeroth real slot of a data slot i to be fused, if a target appears for the first time, creating a data slot to be fused, and creating a zeroth time slot Pi0Is ti0T, T is a fusion period and the end time is Ti0Then, the time of the subsequent time slot is updated in sequence; if the target data slot to be fused already exists, judging the time slot where the ending time of the current data is located, finding the corresponding time slot j, updating the starting time of the data slot to be fused of the whole system track to the starting time of the jth time slot, and then sequentially updating the starting time and the ending time of each time slot.
Preferably, the sending the data slot to be fused reaching the sending time to the fusion thread specifically includes:
in the association thread, after the association of one data is processed, traversing each data slot to be fused, judging whether the current time is greater than the end time of the zeroth time slot, if so, sending the track data in the data slot to be fused to the data slot to be fused mapped by the fusion thread by the association thread.
Preferably, a plurality of data slots to be fused are arranged in the associated thread, and each data slot to be fused comprises a plurality of time slots; and the fusion thread is internally provided with corresponding mapping data slots to be fused, the mapping data slots to be fused have the same structure as the data slots to be fused, and each mapping data slot to be fused comprises a plurality of mapping time slots.
Preferably, when the fusion thread timer times out, the fusion thread traverses the time slot of each mapped data slot to be fused, and fuses the received track data, specifically:
starting the subdivision time slice managers by the fusion thread, wherein each subdivision time slice manager acquires time slots to be fused of all tracks transmitted by the primary associated thread, and if the data mapping the time slots to be fused are updated, the updated data are acquired and the memory areas of the corresponding time slots to be fused in the fusion thread are updated;
and traversing the mapping time slot of each mapping data slot to be fused by the fusion thread, judging whether the current time is after the jth time slot is finished and before the jth +1 time slot is finished, if so, acquiring the track data of all monitoring sources in the time slot j, using the track data as the data of the system track participating in the fusion in the current fusion period, and if the current time slot is an empty slot, indicating that no monitoring source covers the target in the current period, and extrapolating the data of the fusion period.
Preferably, each data slot to be fused receives one or more flight path data acquired by one or more monitoring sources from the same aviation target.
In a second aspect, the present invention provides a system for distributed fusion of multiple monitoring source data of an integrated tower system, which is suitable for the method for distributed fusion of multiple monitoring source data of an integrated tower system in the first aspect, and includes:
the system comprises a correlation unit, a fusion thread and a processing unit, wherein the correlation unit is used for respectively setting a data slot to be fused for a plurality of aviation targets, successfully correlating the received single monitoring source flight path data to the corresponding target flight path, storing the flight path data to the data slot to be fused corresponding to the target flight path, updating the time of the data slot to be fused, and sending the data slot to be fused reaching the sending time to the fusion thread;
and the fusion unit is used for traversing the time slot of each mapped data slot to be fused by the fusion thread when the fusion thread timer is over time, and fusing the received track data.
According to the technical scheme, the track data are fused by the arrival time of the track data of each track target, so that the fused target track appears as early as possible; for different flight path targets, the time for receiving flight path data is different, so that the time for fusing is different, a time distribution type fusion mode is adopted, the flight path data of all the flight path targets do not need to be fused uniformly at a certain moment, and the peak value of the CPU utilization rate does not appear periodically.
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In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a first schematic diagram of a track fusion process in the background art;
FIG. 2 is a second schematic diagram of a flight path fusion process in the present embodiment;
FIG. 3 is a first diagram illustrating a data slot to be merged according to the present embodiment;
fig. 4 is a second schematic diagram of the data slot to be fused in the embodiment.
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 some, not all, embodiments of the present invention. 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.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
The first embodiment is as follows:
the embodiment provides a method for multi-monitoring-source data distributed fusion of an integrated tower system, which comprises the following steps:
respectively setting a data slot to be fused for a plurality of aviation targets;
successfully associating the received single monitoring source track data with a corresponding target track, storing the track data into a data slot to be fused corresponding to the target track, updating the time of the data slot to be fused, and sending the data slot to be fused reaching the sending moment to a fusion thread;
and when the fusion thread timer is overtime, the fusion thread traverses the time slot of each mapped data slot to be fused, and fuses the received track data.
In this embodiment, one data slot to be fused corresponds to one aerial target, and for the same aerial target, there may be one or more monitoring sources for monitoring, so that each data slot to be fused receives one or more flight path data (flight path data for the same aerial target). For example, three aviation targets X1, X2 and X3 are provided, the monitoring source A, B monitors the aviation target X1, and the flight path data DataA and DataB collected by the monitoring source A, B are sent to the tank P to be fused corresponding to the aviation target X11(ii) a The monitoring source C, D monitors the aerial target X2, and the flight path data DataC and DataD collected by the monitoring source C, D are sent to the corresponding aerial target X2 to be fusedGroove P2(ii) a The monitoring source E, F monitors the aerial target X3, and the flight path data DataE and DataF collected by the monitoring source E, F are sent to the tank P to be fused corresponding to the aerial target X33. Because the time for each data slot to be fused to receive the flight path data for the first time is different, the time for fusing for the first time is different, the time for finishing each time period is different, and the time for periodically fusing is different.
The method comprises the following steps of setting a data slot to be fused for each of a plurality of aviation targets, wherein the data slot to be fused is specifically as follows:
respectively setting a data slot to be fused for a plurality of aviation targets: p1、P2、…、PM；
The data slot to be fused comprises: the method comprises the following steps that starting time, ending time, the state of whether a data slot sends a fusion thread or not, the state of whether the fusion thread acquires the data slot or not and a time slot array are included, wherein the time slot array comprises a real slot and an empty slot;
the time slot array includes: the method comprises the following steps of time slot starting time, time slot ending time, a fusion period, a state of whether to participate in fusion and a data array from a plurality of monitoring sources participating in current system track fusion;
each data slot to be fused comprises a plurality of time slots: pi＝[Pij]I is more than or equal to 1 and less than or equal to M, i represents the serial number of the data slot to be fused, M is an integer, M represents the total number of the data slot to be fused, j is more than or equal to 0 and less than or equal to N, j represents the serial number of the time slot, N is zero or an integer, N +1 represents the total number of the time slot, PijRepresents the jth time slot in the ith data slot to be fused.
In the embodiment, three aviation targets X1, X2, and X3 are taken as examples for explanation, and three data slots to be fused correspondingly set are P1、P2、P3. Each fused data slot comprises five time slots, namely a data slot P to be fused1：P10、P11、P12、P13、P14(ii) a Data slot P to be fused2：P20、P21、P22、P23、P24(ii) a Data slot P to be fused3：P30、P31、P32、P33、P34。
The method comprises the following steps of successfully associating the corresponding target track, storing track data into a to-be-fused data slot corresponding to the target track, and updating the time of the to-be-fused data slot, wherein the method specifically comprises the following steps:
ti0receiving single monitoring source data at any moment, then associating to obtain a multi-monitoring-source track number i, storing the single monitoring source data into a zeroth real slot of a data slot i to be fused, if a target appears for the first time, creating a data slot to be fused, and creating a zeroth time slot Pi0Is ti0T, T is a fusion period and the end time is Ti0Then, the time of the subsequent time slot is updated in sequence; if the target data slot to be fused already exists, judging the time slot where the ending time of the current data is located, finding the corresponding time slot j, updating the starting time of the data slot to be fused of the whole system track to the starting time of the jth time slot, and then sequentially updating the starting time and the ending time of each time slot.
At each ti0And fusing track data in the data slot to be fused at the + jT moment, specifically:
will be the time period ti0+(j-1)T,ti0+jT]The flight path data received in the inner part is put into the zeroth time slot P corresponding to the fusion data sloti0Updating the starting and ending time of a plurality of time slots in each data slot to be fused;
for each data slot to be fused, judging whether the current time is greater than the end time of the zeroth time slot, if so, sending the whole data slot to be fused into a data slot to be fused mapped by the fusion thread by the associated thread;
and the fusion thread traverses each mapping time slot for mapping the data slot to be fused, and fuses the received track data.
In the present embodiment, for each time period ti0+(j-1)T,ti0+jT]The received flight path data are all put into the zeroth time slot P of the corresponding fusion data sloti0Time slot P with data stored thereini0Is a solid groove, and the rest of the time without data storageThe grooves are all empty grooves; taking the current time period as the zeroth time slot Pi0Is updated to the start-stop time of the time slot in which the current data is located, then the zeroth time slot Pi0Is ti0T is + j-1, and the end time is Ti0+jT。
For example, in the present embodiment, three data slots P to be merged1、P2、P3The receiving time of the first-time received flight path data is t10、t20、t30Due to t10、t20、t30Different, therefore, the periods of the data slots to be fused for receiving the track data are different, and the time for subsequent fusion is different. Following with the data P to be fused1To elaborate, the jth time slot P1jHas a time period of [ t ]10+(j-1)T,t10+jT]The end time of one time slot is the start time of the next time slot,
as shown in fig. 3, when j is 0, i.e., in the 0 th cycle, the data P to be fused1Five time slots P10、P11、P12、P13、P14The corresponding time is as follows: t is t10-T，t10，t10+T，t10+2T，t10+3T，t10+ 4T. For time slot P10，t10-T is the start time, T10Is the end time; for time slot P11，t10To start time, t10+ T is the end time; … … are provided.
As shown in fig. 4, when j is 1, i.e., in the 1 st cycle, the data P to be fused1Five time slots P10、P11、P12、P13、P14The corresponding time is as follows: t is t10，t10+T，t10+2T，t10+3T，t10+4T，t10+ 5T. For time slot P10，t10To start time, t10+ T is the end time; for time slot P11，t10+ T is the start time, T10+2T is the end time; … … are provided.
Whether at zeroThe track data received during the first, second, third or … … time period are stored in the zeroth time slot, so the zeroth time slot is always a real slot, while the other first, second, third or … … time slots are empty slots because no track data is stored. The time slots are not changed, but only in different time periods, the time slots corresponding to different time periods, e.g. the zeroth time slot P10In the 0 th time period, the corresponding time period is [ t ]10-T，t10](ii) a In the 1 st time period, the corresponding time period is [ t ]10，t10+T](ii) a In the 2 nd time period, the corresponding time period is [ t ]10+2T，t10+3T]；……。
In this embodiment, for the jth time period of the ith data slot to be fused, it is determined whether the current time is greater than the end time ti0And + jT, if the value is larger than the value, the associated thread sends the ith data slot to be fused to the ith mapping data slot to be fused of the fusion thread.
For example, for data slots P to be fused1Time slot P10In the 0 th time period, it is determined whether the current time is greater than the end time t of the zeroth time slot10If so, sending the associated track data to the fusion thread; in the 1 st time period, judging whether the current time is larger than the end time t of the zeroth time slot10+ T, if yes, the associated track data is sent to the fusion thread; in the 2 nd time period, judging whether the current time is larger than the end time t of the zeroth time slot10+2T, if yes, the associated track data is sent to the fusion thread; … … are provided.
In this embodiment, the association thread is configured to receive the track data, associate the track data (association time is short and is ignored in this embodiment), and send the associated track data to the fusion thread, where a plurality of data slots to be fused are provided in the association thread, and each data slot to be fused includes a plurality of time slots; the fusion thread is used for receiving the correlated track data and fusing the track data, corresponding mapping data slots to be fused with the same structure as the data slots to be fused are arranged in the fusion thread, and each mapping data slot to be fused comprises a plurality of mapping time slots. And the track data in the data slot to be fused of the associated thread is sent to the corresponding data slot to be fused of the fusion thread.
When the fusion thread timer is overtime, the fusion thread traverses each mapped time slot of the data slot to be fused, and fuses the received track data, specifically comprising the following steps:
starting the subdivision time slice managers by the fusion thread, wherein each subdivision time slice manager acquires time slots to be fused of all tracks transmitted by the primary associated thread, and if the data mapping the time slots to be fused are updated, the updated data are acquired and the memory areas of the corresponding time slots to be fused in the fusion thread are updated;
and traversing the mapping time slot of each mapping data slot to be fused by the fusion thread, judging whether the current time is after the jth time slot is finished and before the jth +1 time slot is finished, if so, acquiring the track data of all monitoring sources in the time slot j, using the track data as the data of the system track participating in the fusion in the current fusion period, and if the current time slot is an empty slot, indicating that no monitoring source covers the target in the current period, and extrapolating the data of the fusion period.
In this embodiment, the fusion thread traverses each data slot to be fused according to a set time, where the set time may be 0.2S, 0.4S, 0.5S, or the like. For example, the merge thread has traversed mapping the data slots P to be merged at a certain time1＇、P2＇、P3' it is found that in the current cycle, the data slot P to be fused is mapped2' track data received, then pair P2Fusing' inner flight path data; traversing again after 0.2S, and finding that the data slot P to be fused is mapped in the current period1' track data received, then pair P1Fusing' inner flight path data; traversing after 0.2S, and finding that the data slot P to be fused is mapped in the current period3' track data received, then pair P3And fusing the' inner flight path data. In this embodiment, the data slots to be fusedti0And if the + jT is different, the time for the associated thread to send the flight path data to the fusion thread is different, and the time for the fusion thread to fuse the flight path data is also different and the same. Therefore, fusion need not be performed at the same time for all aerial targets.
Fig. 2 is a schematic flow chart of the flight path fusion process in this embodiment. This embodiment uses the groove P to be fused1To elaborate, as shown in FIG. 3, during the 0 th time period, the data slot P to be merged1At time t10Receiving the track data DataA of the monitoring source X1, and storing the data in the zeroth time slot P10Middle, time slot P10Has a time period of [ t ]10-T，t10]. At this time the zeroth time slot P10Storing track data as a real slot; time slot P11、P12、P13、P14The flight path data is not stored and is empty slot. At t10Time of day, zeroth time slot P10And after the track data in the fusion thread are correlated (the correlation time is ignored), the correlated track data are sent to the fusion thread for fusion. Then in the 1 st time period t10，t10+T]Inner, time slot P11The track data of the monitoring source A, B is received: DataA, DataB, as shown in FIG. 4, at t10And at the moment of + T, the two track data are correlated, and the correlated track data are sent to a fusion thread for fusion. For other data slots to be fused, workflow and P1The same is true except that the time to send the data to the converged thread is different. And the fusion thread carries out traversal on the time slot of the slot to be fused, if the current time period has track data in the time slot, the fusion is carried out, if the current time period has no data in the time slot and is an empty slot, data extrapolation is carried out, and the data extrapolation refers to the estimation of the position of the target at the current time and the motion trend according to the motion trend of the target at the previous time.
In summary, according to the technical solution of this embodiment, the track data fusion is driven by the data arrival time, so that the target track of the aviation target is output in the shortest possible time after the track data arrives, so that the fusion target appears as early as possible. Meanwhile, the tracks of different aviation targets are mutually independent, uniform fusion processing is not carried out on all aviation targets at a certain moment, and the use of a fusion processing thread is averaged within a period of time, so that the peak value of the CPU utilization rate cannot appear periodically, the network flow is reduced due to the influence on a fusion external system, the network peak value cannot appear, and in addition, the processing load of other systems is obviously reduced, such as the refreshing of the SDD interface track, and the like.
Example two:
the embodiment provides a system for distributed fusion of multiple monitoring source data of an integrated tower system, which is applicable to a method for distributed fusion of multiple monitoring source data of an integrated tower system in any one of embodiments, and includes:
the association unit is used for respectively setting a data slot to be fused for a plurality of aviation targets; and successfully associating the received single monitoring source track data with the corresponding target track, storing the track data into a data slot to be fused corresponding to the target track, updating the time of the data slot to be fused, and sending the data slot to be fused reaching the sending moment to a fusion thread.
And the fusion unit is used for traversing the time slot of each mapped data slot to be fused by the fusion thread when the fusion thread timer is over time, and fusing the received track data.
According to the technical scheme of the embodiment, the track data fusion is driven to be carried out by the data reaching time, so that the target track of the aviation target is output in the shortest possible time after the track data is reached, and the fusion target appears as early as possible. Meanwhile, the tracks of different aviation targets are mutually independent, uniform fusion processing is not carried out on all aviation targets at a certain moment, and the use of a fusion processing thread is averaged within a period of time, so that the peak value of the CPU utilization rate cannot appear periodically, the network flow is reduced due to the influence on a fusion external system, the network peak value cannot appear, and in addition, the processing load of other systems is obviously reduced, such as the refreshing of the SDD interface track, and the like.
According to the technical scheme, the track data are fused by the arrival time of the track data of each track target, so that the fused target track appears as early as possible; for different flight path targets, the time for receiving flight path data is different, so that the time for fusing is different, a time distribution type fusion mode is adopted, the flight path data of all the flight path targets do not need to be fused uniformly at a certain moment, and the peak value of the CPU utilization rate does not appear periodically.
Furthermore, those of ordinary skill in the art will appreciate that the elements or steps of the various examples described in connection with the embodiments disclosed herein may be embodied as electronic hardware, computer software, or combinations of both, and that the components and steps of the various examples have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present application, it should be understood that the division of the steps is only one logical functional division, and there may be other division ways in actual implementation, for example, multiple steps may be combined into one step, one step may be split into multiple steps, or some features may be omitted.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.

Claims (8)

1. A method for multi-monitoring source data distributed fusion of an integrated tower system is characterized by comprising the following steps:
respectively setting a data slot to be fused for a plurality of aviation targets;
successfully associating the received single monitoring source track data with a corresponding target track, storing the track data into a data slot to be fused corresponding to the target track, updating the time of the data slot to be fused, and sending the data slot to be fused reaching the sending moment to a fusion thread;
and when the fusion thread timer is overtime, the fusion thread traverses the time slot of each mapped data slot to be fused, and fuses the received track data.
2. The method for the distributed fusion of the multiple monitoring source data of the integrated tower system according to claim 1, wherein the data slots to be fused are respectively set for the plurality of aerial targets, and specifically the method comprises the following steps:
respectively setting a data slot to be fused for a plurality of aviation targets: p1、P2、…、PM；
The data slot to be fused comprises: the method comprises the following steps that starting time, ending time, the state of whether a data slot sends a fusion thread or not, the state of whether the fusion thread acquires the data slot or not and a time slot array are included, wherein the time slot array comprises a real slot and an empty slot;
the time slot array includes: the method comprises the following steps of time slot starting time, time slot ending time, a fusion period, a state of whether to participate in fusion and a data array from a plurality of monitoring sources participating in current system track fusion;
each data slot to be fused comprises a plurality of time slots: pi＝[Pij]I is more than or equal to 1 and less than or equal to M, i represents the serial number of the data slots to be fused, M represents the total number of the data slots to be fused, j is more than or equal to 0 and less than or equal to N, j represents the serial number of the time slot, N +1 represents the total number of the time slot, PijRepresents the jth time slot in the ith data slot to be fused.
3. The method for integrated tower system multi-monitoring-source data distributed fusion according to claim 2, wherein the successful association to the corresponding target track, the storage of the track data to the data slot to be fused corresponding to the target track, and the update of the time of the data slot to be fused are specifically as follows:
ti0receiving single monitoring source data at any moment, then associating to obtain a multi-monitoring-source track number i, storing the single monitoring source data into a zeroth real slot of a data slot i to be fused, if a target appears for the first time, creating a data slot to be fused, and creating a zeroth time slot Pi0Is ti0T, T is a fusion period and the end time is Ti0Then, the time of the subsequent time slot is updated in sequence; if the target data slot to be fused already exists, judging the time slot where the ending time of the current data is located, finding the corresponding time slot j, updating the starting time of the data slot to be fused of the whole system track to the starting time of the jth time slot, and then sequentially updating the starting time and the ending time of each time slot.
4. The method for multi-monitoring-source data distributed fusion of an integrated tower system according to claim 3, wherein the sending the data slot to be fused to the sending time to the fusion thread specifically comprises:
in the association thread, after the association of one data is processed, traversing each data slot to be fused, judging whether the current time is greater than the end time of the zeroth time slot, if so, sending the whole data slot to be fused to the data slot to be fused mapped by the fusion thread by the association thread.
5. The method for multi-monitoring-source data distributed fusion of the integrated tower system according to claim 4, wherein a plurality of data slots to be fused are arranged in the association thread, and each data slot to be fused includes a plurality of time slots; and the fusion thread is internally provided with corresponding mapping data slots to be fused, the mapping data slots to be fused have the same structure as the data slots to be fused, and each mapping data slot to be fused comprises a plurality of mapping time slots.
6. The method for multi-monitoring-source data distributed fusion of an integrated tower system according to claim 5, wherein when a fusion thread timer times out, a fusion thread traverses a time slot of each mapped data slot to be fused, and fuses the received flight path data, specifically:
starting the subdivision time slice managers by the fusion thread, wherein each subdivision time slice manager acquires time slots to be fused of all tracks transmitted by the primary associated thread, and if the data mapping the time slots to be fused are updated, the updated data are acquired and the memory areas of the corresponding time slots to be fused in the fusion thread are updated;
and traversing the mapping time slot of each mapping data slot to be fused by the fusion thread, judging whether the current time is after the jth time slot is finished and before the jth +1 time slot is finished, if so, acquiring the track data of all monitoring sources in the time slot j, using the track data as the data of the system track participating in the fusion in the current fusion period, and if the current time slot is an empty slot, indicating that no monitoring source covers the target in the current period, and extrapolating the data of the fusion period.
7. The method for distributed fusion of multiple monitoring source data of an integrated tower system according to claim 6, wherein each data slot to be fused receives one or more flight path data acquired by one or more monitoring sources for the same aviation object.
8. A system for integrated tower system multi-monitoring source data distributed fusion, which is applied to the method for integrated tower system multi-monitoring source data distributed fusion of any one of claims 1 to 7, and comprises:
the association unit is used for respectively setting a data slot to be fused for a plurality of aviation targets; successfully associating the received single monitoring source track data with the corresponding target track, storing the track data into a data slot to be fused corresponding to the target track, updating the time of the data slot to be fused, sending the data slot to be fused reaching the sending moment to a fusion thread,
and the fusion unit is used for traversing the time slot of each mapped data slot to be fused by the fusion thread when the fusion thread timer is over time, and fusing the received track data.
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